WO2024028739A1

WO2024028739A1 - Power line inspection vehicle

Info

Publication number: WO2024028739A1
Application number: PCT/IB2023/057743
Authority: WO
Inventors: Quoc Luong; Quang Phi
Original assignee: Real-Time Robotics Inc
Priority date: 2022-07-31
Filing date: 2023-07-31
Publication date: 2024-02-08

Abstract

An unmanned aerial vehicle (UAV) comprising a rotor module comprising a coaxially arranged rotor having a substantially vertical axis of rotation and a laterally extending rotor housing, a battery located below the rotor module, a shaft extending vertically from the rotor module to define a distal shaft end, a main wheel, rotatable about a substantially horizonal axis, connected to the distal shaft end, an inspection device, and two or more rotatable arms extending from the main wheel rotatable about a substantial horizontal axis, each rotatable arm having an accessory wheel located at the distal end of the respective rotatable arm.

Description

POWER LINE INSPECTION VEHICLE

TECHNICAL FIELD

[0001] Embodiments are generally related to the field of aircraft, and more particularly, to unmanned aerial vehicles (UAV) for inspecting aerial power line components. More specifically, some embodiments of the present disclosure relate to UAVs configured to fly to, attach to, detach from, move along and perform both contact and non-contact inspection of the power line components.

BACKGROUND

[0002] Maintenance of the electric power grid system requires constant monitoring and inspection. Traditionally these are performed by linemen physically traversing the power lines, access from helicopters, and use of small drones.

[0003] Human inspection of the power grid is dangerous, expensive, and often requires that the power lines be deactivated from the grid. Consequently, multicopter drones are used to inspect power transmission towers and cables by flying alongside the lines and performing non-contact based inspection such as capturing various types of imagery and lidar data

[0004] However, the flying inspection drones have limited flight time and require a human operator to be within line-of-sight, reducing the applicability of drones for power line inspections. Moreover, as most of the battery energy is spent to keep the drone floating in the air the typical inspection interval using the drones is about 40 minutes or less. The human operator at the end of each interval has to land the drone, put in a new battery, and fly the drone again, resulting in a lower productivity.

[0005] In addition, the human operator has to move to a new location after each cycle of taking off and landing to exchange the battery. As a skilled addressee can appreciate, in practice, it is not always possible to find or access a location where a drone can land and take off given the rough terrain high voltage power transmission line inherently covers.

[0006] Further, having a human operator to move on the ground parallel to the flying drone involves intensive human labour and associated costs which result in low productivity and inefficiencies.

[0007] Another issue with the existing system is that the corridor space for an inspection drone to fly very often has intruding obstacles and thus flight safety is compromised. In order to capture consistent imagery, an inspection drone has to fly within a virtual tunnel parallel to the cable it is inspecting. However, more often than not, there are obstacles such as other power lines running parallel to or across or vegetation or man-made structures getting in the path of the virtual flight tunnel. In such circumstances the drone needs to be maneuvered manually to avoid obstacles and therefore requires constant pilot monitoring, substantial pilot time and very high labour cost.

[0008] Furthermore, as the existing flying drones can perform only non-contact inspection methods by capturing imagery from a distance, the drone has to maintain a safe distance from cable and towers. Consequently, by design these drones are unable to perform any contact intervention such as contact-based measurements or removing foreign objects attached to cable by accident.

[0009] Cable crawling robots that can move along a cable and perform contact-based inspection have been used. These robots, however, are very heavy and need to be carried up and installed manually on the cable before they can move along the cable and perform the inspection or maintenance. Another disadvantage with the use of such robot is that they cost substantial time and labour in addition to exposing the human operators to safety risks as these heavy robots need to be carried to the top of transmission towers for installation.

[0010] US 20210237866 discloses a quadcopter drone that flies and hangs itself on a conductor with two wheels. However, the exposed propellers of this design entail significant risks of hitting a conductor (usually, a power line) during embarking and disembarking especially when conductor sways in the presence of strong wind or gusts. In addition, the mechanism of aligning two wheels on a conductor is inherently difficult because the conductor has significant sag and also sways.

[0011] It is desired to address or ameliorate one or more disadvantages or limitations associated with the prior art, provide an apparatus and a method therefor inspecting aerial power transmission lines, or to at least provide the public with a useful alternative.

[0012] In this specification, where reference has been made to external sources of information, including patent specifications and other documents, this is generally for providing a context for discussing the features of the present invention. Unless stated otherwise, reference to such sources of information is not to be construed, in any jurisdiction, as an admission that such sources of information are prior art or form part of the common general knowledge in the art.

[0013] Embodiments are further related to systems and methods configured to maneuver the UAVs to circumvent objects detected along the path of the conductor without needing to undock and fly the vehicle above the object. SUMMARY OF THE INVENTION

[0014] According to a first aspect, the present disclosure may provide an unmanned aerial vehicle (UAV) comprising: a rotor module configured to lift and drive the drone, a main wheel and two or more articulated arms, each articulated arm comprising an accessory wheel at a distal end, and wherein the main wheel and/or one or more of the accessory wheels engage with and drive the UAV across a power transmission line.

[0015] According to a further aspect, the present disclosure may provide an unmanned aerial vehicle (UAV) comprising: a rotor module comprising a coaxially arranged rotors having a substantially vertical axis of rotation and a laterally extending rotor housing, a battery located below the rotor module, a shaft extending vertically from the rotor module to define a distal shaft end, a main wheel, rotatable about a substantially horizonal axis, connected to the distal shaft end, an inspection device, and two or more rotatable arms extending from the main wheel rotatable about a substantial horizontal axis, each rotatable arm having an accessory wheel located at the distal end of the respective rotatable arm.

[0016] According to a further aspect, the present disclosure may provide an unmanned aerial vehicle (UAV) comprising a rotor module configured to lift the drone, the rotor module comprising a housing to protect rotors coaxially arranged, an engagement module connected to the rotor module, the engagement module configured to engage with a conductor of an aerial power transmission line system, the engagement module comprising: a main wheel, two or more rotatable arms, each of the rotatable arms having an accessory wheel on a distal end of the rotatable arm, and wherein rotation of the accessory wheels for contact with the conductor lifts the main wheel from the conductor, such that the UAV is driven along the conductor on at least two of the accessory wheels.

[0017] According to a further aspect, the present disclosure may provide an unmanned aerial vehicle (UAV) comprising: a rotor module configured to lift and drive the drone; an engagement module connected to the rotor module, the engagement module configured to engage with a conductor of an aerial power transmission line system and comprising: a main wheel and two or more articulated arms, each articulated arm comprising an accessory wheel at a distal end; wherein when the articulated arms are substantially vertical: the main wheel is in contact with the conductor and configured to transport the UAV along a path of the conductor of the aerial power transmission line system, and the accessory wheels are suspended above the main wheel.

[0018] According to a further aspect, the present disclosure may provide a method for inspecting an aerial power transmission line comprising providing an unmanned aerial vehicle (UAV), the UAV comprising

• a rotor module comprising a coaxial rotor having a substantially vertical axis of rotation and a laterally extending rotor housing,

• a battery located below the rotor module,

• a shaft extending vertically from the rotor module to define a distal shaft end,

• a main wheel, rotatable about a substantially horizonal axis, connected to the distal shaft end,

• an inspection device, and

• two or more rotatable arms extending from the main wheel rotatable about a substantial horizontal axis, each rotatable arm having an accessory wheel located at the distal end of the respective articulated arm, positioning the UAV such that the main wheel engages a conductor of an aerial power transmission system, moving the UAV along the conductor to allow the inspection device to inspect the conductor wherein, if the main wheel encounters an obstacle on the conductor the two or more of the rotatable arms rotate to an engagement position in which the accessory wheels of the rotatable arms engage the conductor and lift the UAV to disengage the main wheel from the conductor.

[0019] According to a further aspect, the present disclosure may provide a method of inspecting an aerial power transmission line system, the method comprising: flying an unmanned aerial vehicle (UAV) to a conductor of the aerial power transmission line system, the UAV comprising a rotor module, an engagement module connected to the rotor module, the engagement module comprising a main wheel and two or more articulated arms, each articulated arm comprising an accessory wheel at a distal end, an inspection module, and an intervention module; engaging either one of the main wheel or each of the accessory wheels on the conductor and driving the UAV along a path of the conductor; initializing the inspection module to inspect the power transmission line; and initializing the intervention module to perform contact and/ or non-contact-based invention on the power transmission line.

[0020] According to a further aspect, the present disclosure may provide a method of maneuvering an unmanned aerial vehicle (UAV) to circumvent an object along a path of a conductor of an aerial power transmission line system, the method comprising: flying the UAV to the conductor of the aerial power transmission line system, the UAV comprising a rotor module the rotor module housed in an enclosure and comprising one or more sets of coaxial rotary blades, and an engagement module connected to the rotor module and comprising a main wheel and two or more articulated arms, each articulated arm comprising an accessory wheel at a distal end; engaging the main wheel on the conductor and driving the UAV along a path of the conductor on the main wheel; detecting the object along the path of the conductor; and maneuvering the (UAV) to circumvent the object by: transitioning the main wheel to un-engage with the conductor such that the main wheel is suspended above the conductor, deploying accessory wheels on either side of the detected object to engage with the conductor and driving the UAV on each of the accessory wheels such that the main wheel suspended above the conductor circumvents the detected object, and deploying the main wheel to re-engage with the conductor and suspending the accessory wheels above the conductor such that the UAV drives on the main wheel.

[0021] Any one or more of the following embodiments may relate to any of the above aspects.

[0022] In one configuration, when the main wheel is in contact with the conductor, each of the accessory wheels are lifted off the conductor, and the UAV is driven along the path of the conductor on the main wheel.

[0023] In one configuration the UAV further comprises an object detection module configured to detect an object along the path of the conductor. [0024] In one configuration the UAV is configured to move past the detected object by:

• engaging accessory wheels to contact the conductor,

• driving the UAV along the path of the conductor on each of the accessory wheels until a distance where the main wheel lifted above the conductor crosses the detected object, and

• re-engaging the main wheel to contact the conductor, and

• driving the UAV along the path of the conductor on the main wheel.

[0025] In one configuration the engagement module comprises a breaking module configured to regeneratively and/ or mechanically brake and alter momentum of the UAV.

[0026] In one configuration the UAV further comprises an inspection module configured to inspect the conductor of the aerial power transmission line system.

[0027] In one configuration the inspection module comprises one or more sensors including but not limited to a video capture camera, thermal imaging camera, corona camera, micROM camera and an ultraviolet camera.

[0028] In one configuration the UAV further comprises a sensory module comprising one or more sensors including but not limited to a first-person view camera, a radar, a depth sensing camera and a lidar.

[0029] In one configuration the UAV further comprises a robotic arm configured to conduct contact-based inspection and intervention on the aerial power transmission line system.

[0030] In one configuration the UAV carries out contact-based inspection and intervention by use of the robotic arm that identifies and eliminates foreign objects attached to an aerial power transmission line system.

[0031] In one configuration the robotic arm is configured to conduct a non-contact based inspection of an aerial power transmission line system.

[0032] In one configuration non-contact based inspection by the robotic arm comprises tracking a target on the power transmission line and capturing imagery and lidar data. [0033] In one configuration the engagement module comprises a locking module configured to lock any one of the main wheel or each of the accessory wheels such that the position of the UAV is fixed at a desired location on the path of the conductor.

[0034] In one configuration the engagement module comprises a hooking module configured to hook the main wheel to another aerial vehicle during an aerial rescue operation.

[0035] In one configuration the UAV further comprises a battery module electrically connected to at least one of the rotor module or the engagement module.

[0036] In one configuration the UAV further comprises a solar charging module in electric connection with the battery module, wherein the solar charging module is configured to harvest electricity derived from solar energy and charge the battery module.

[0037] In one configuration the solar charging module comprises one or more solar cells configured to laminate an outer surface of the enclosure housing the rotor module.

[0038] In one configuration the UAV further comprises an inductive charging module in electric connection with the battery, wherein the inductive charging module comprises one or more solenoid or inductive coils configured to harvest electricity from the aerial power transmission line system and charge the battery module.

[0039] In one configuration the engagement module comprises a motor, and wherein the engagement module is configured to transport the UAV through the path of the conductor of aerial power transmission line system via operation of the motor and/ or the rotor blades of the rotor module.

[0040] In one configuration the UAV further comprises a computational module configured to determine distance to the object along the path of the conductor of aerial power transmission line system.

[0041] In one configuration based on the determined distance to the object and the main wheel reaching a preset limit of distance to the object, the rotor module is configured to lift the main wheel off the conductor and drive the UAV along the path of the conductor on each of the accessory wheels.

[0042] In one configuration the rotor module comprises an enclosure having a diameter 5, 10 or 15% greater than the diameter of the rotor(s). [0043] In one configuration the UAV further comprises a shaft extending in a perpendicular direction from the rotor module, wherein the shaft connects the engagement module to the rotor module.

[0044] In one configuration the two or more articulate arms are connected to the main wheel via a spring, and wherein each articulate comprises one or more sensors including .... configured to

[0045] In one configuration the UAV further comprises

• a controller configured to control the rotor system and the engagement module to autonomously maneuver the UAV, and

• one or more navigation sensors mounted to the enclosure and in communication with the controller.

[0046] In one configuration the controller is further configured to control the pitch, yaw and roll of the UAV.

[0047] In one configuration the UAV further comprises an on-board processor configured to receive and process signals received from the inspection and/ or sensing modules.

[0048] In one configuration the on-board processor is configured to run programmed computer software comprising computer vision and/ or object tracking and/ or object detection and/ or Al algorithms and/ or artificial neural network models.

[0049] In one configuration the processor further comprises a wireless transmitter configured to transmit encoded information from the processor to a server.

[0050] In one configuration the processor further comprises a wireless receiver configured to receive encoded information the server.

[0051] In one configuration the shaft comprises a haptic sensor and a tactile sensor.

[0052] In one configuration the controller is configured to dock the UAV on to the power transmission line by:

• flying the UAV to the conductor until the shaft contacts the conductor;

• lowering the altitude of the UAV until the main wheel engages with the conductor. [0053] In one configuration each of the articulate arms are configured to perform contact-based inspection and intervention of the aerial power transmission line.

[0054] In one configuration the controller is configured to control the lateral movement side effect.

[0055] In one configuration the articulated arms are substantially horizontal: the articulated arms are in contact with the conductor and configured to transport the UAV along the path of the conductor of the aerial power transmission line system, and the main wheel is suspended above the articulated arms.

[0056] In one configuration the rotor module comprises one or more sets of coaxial rotary blades.

[0057] It is intended that reference to a range of numbers disclosed herein (for example, 1 to 10) also incorporates reference to all rational numbers within that range (for example, 1, 1.1, 2, 3, 3.9, 4, 5, 6, 6.5, 7, 8, 9 and 10) and also any range of rational numbers within that range (for example, 2 to 8, 1.5 to 5.5 and 3.1 to 4.7).

[0058] To those skilled in the art to which the invention relates, many changes in construction and widely differing embodiments and applications of the invention will suggest themselves without departing from the scope of the invention as defined in the appended claims. The disclosures and the descriptions herein are purely illustrative and are not intended to be in any sense limiting

[0059] It is noted that in this disclosure and particularly in the claims and/or paragraphs, terms such as "comprises", "comprised", "comprising" and the like can mean "includes", "included", "including", and the like; and that terms such as "consisting essentially of" and "consists essentially of" allow for elements not explicitly recited, but exclude elements that are found in the prior art or that affect a basic or novel characteristic of the invention.

DESCRIPTION OF THE DRAWINGS

[0060] The following detailed description, given by way of example, but not intended to limit the invention solely to the specific embodiments described, may best be understood in conjunction with the accompanying drawings.

[0061] Figure 1 illustrates an overall depiction of a cable line having transmission lines suspended between two power towers and a UAV as described suspended of a transmission line. [0062] Figure 2 shows a UAV as described suspended on a transmission line with the main wheel in contact with the transmission line.

[0063] Figure 3 shows a UAV as described suspended on a transmission line with the accessory wheels in contact with the transmission line.

[0064] Figure 4 is a depiction of how a single UAV navigates an obstacle: the UAV detaches from the transmission line, flies past the obstacle, and re-attaches to the transmission line the other side of the obstacle.

[0065] Figure 5 depicts deployment of the two robots arms.

[0066] Figure 6 is a depiction of how the UAV performs contact interventions on the transmission line.

[0067] Figure 7 is a depiction of an aerial rescue emergency scenario.

DETAILED DESCRIPTION OF THE INVENTION

[0068] Subject matter will now be described more fully hereinafter with reference to the accompanying drawings, which form a part hereof, and which show, by way of illustration, specific example embodiments. Subject matter may, however, be embodied in a variety of different forms and, therefore, covered or claimed subject matter is intended to be construed as not being limited to any example embodiments set forth herein; example embodiments are provided merely to be illustrative. Likewise, a reasonably broad scope for claimed or covered subject matter is intended. Among other things, for example, subject matter may be embodied as methods, devices, components, or systems. Accordingly, embodiments may, for example, take the form of hardware, software, firmware, or any combination thereof (other than software per se). The following detailed description is, therefore, not intended to be interpreted in a limiting sense.

[0069] Throughout the specification and claims, terms may have nuanced meanings suggested or implied in context beyond an explicitly stated meaning. Likewise, the phrase “in one embodiment” as used herein does not necessarily refer to the same embodiment and the phrase “in another embodiment” as used herein does not necessarily refer to a different embodiment. It is intended, for example, that claimed subject matter include combinations of example embodiments in whole or in part.

[0070] In general, terminology may be understood, at least in part, from usage in context. For example, terms such as “and”, “or”, or “and/or” as used herein may include a variety of meanings that may depend, at least in part, upon the context in which such terms are used. Typically, “or” if used to associate a list, such as A, B, or C, is intended to mean A, B, and C, here used in the inclusive sense, as well as A, B, or C, here used in the exclusive sense. In addition, the term “one or more” as used herein, depending at least in part upon context, may be used to describe any feature, structure, or characteristic in a singular sense or may be used to describe combinations of features, structures, or characteristics in a plural sense. Similarly, terms such as “a”, “an”, or “the”, again, may be understood to convey a singular usage or to convey a plural usage, depending at least in part upon context. In addition, the term “based on” may be understood as not necessarily intended to convey an exclusive set of factors and may, instead, allow for existence of additional factors not necessarily expressly described, again, depending at least in part on context.

[0071] Described herein is an unmanned aerial vehicle (UAV) 10 configured to i) fly up and attach itself to a transmission cable 22 autonomously, ii) move autonomously along the transmission cable 22 by using the transmission cable 22 as a rail, iii) perform both non-contact and contact-based measurement and intervention, and iv) detach itself from the transmission cable 22 and land autonomously.

[0072] Figures 1 and 2 show a UAV 10 configured to fly to, attach to, detach from, move along and perform both contact and non-contact inspection of the power line components including at least the transmission cable 22. The UAV 10 comprises a rotor module 11 comprising a coaxial rotor 12 having a substantially vertical axis of rotation and a laterally extending rotor housing 13. A battery 14 may be located below the rotor module 11. Also present is a shaft 15 extending vertically from the rotor module 11 to define a distal shaft end 16 having a main wheel 17 rotatable about a substantially horizonal axis, connected to the distal shaft end 16. An inspection device 18 may extend from the UAV 10. Two or more rotatable arms 19 extend, directly or indirectly, from the main wheel 17, the two or more rotatable arms 19 rotatable about a substantial horizontal axis. Each rotatable arm 19 has an accessory wheel 20 located at the distal end of the respective rotatable arm 19 that is engageable with a transmission line 22.

[0073] Figure 1 shows a UAV 10 suspended from a transmission line 22 held between two transmission towers 33. The rotatable arms 19 of the UAV 10 may be connected to and extend from the main wheel 17 at an angle. In one implementation as depicted in Figure 2, when the main wheel 17 is in contact with the transmission line 22, the accessory wheels 20 of the rotatable arms 19 are held above the main wheel 17 or in a substantially perpendicular orientation with respect to the main wheel 17. In this implementation, the rotatable arms 19 are substantially vertical in relation their orientation with the main wheel 17. In this position, the accessory wheels 20 remain unengaged with the transmission line 22.

[0074] As shown in Figure 2, when the rotatable arms 19 are substantially vertical the main wheel 17 contacts the transmission line 22 and configured to transport the UAV 10 along a path of the transmission line 22 of the aerial power transmission line system, and each of the accessory wheels 20 are suspended above the main wheel 17. That is, the rotatable arms 19 adopt a disengagement condition with respect to the transmission line 22.

[0075] When the UAV 10 travels along the transmission line 22 it may encounter a hazard, object or obstruction. In order to traverse the hazard, object or obstruction (if required) the rotatable arms 19 can move downwards to a substantially horizontal position as shown in Figure 3. That is, the rotatable arms 19 adopt an engagement condition with respect to the transmission line 22. Once the accessory wheels 20 contact with the transmission line 22 the rotatable arms 19 can continue to rotate thereby lifting the UAV 10 such that the main wheel 17 is suspended above the transmission line 22. This configuration allows the UAV 10 to move along the path of the transmission line 22 of the aerial power transmission line system. The accessory wheels 20 once in an engagement condition are spaced from the vertical plane of the main wheel 17 by a distance D.

[0076] Shown in Figure 3 is an obstruction on the transmission line 22 being a spreader 23 used to spread the individual transmission lines 22. The main wheel 17 cannot traverse the spreader 23. Thus the UAV 10 can approach the spreader 23 with the main wheel 27 and when within a distance D to the spreader the rotatable arms 19 rotate downwards to the transmission line 22 such that the leading accessory wheel 20 comes into contact with the transmission line 22 in front of (i.e. relative to the direction of movement of the UAV 10) the obstruction, which as shown in Figure 3 is the spreader 23 (as the obstruction). The trailing accessory wheel 20 remains behind the obstruction 23. The UAV 10 then moves forward such that the main wheel 17 passes above the obstruction 23. At this point the main wheel 17 can be lowered to the transmission line 22 in front of the obstruction as the rotatable arms 19 rotate upwards to adopt a disengagement condition with respect to the transmission line 22. In this manner, the UAV 10 can pass by the hazard, object or obstruction. As used herein, the terms “leading” or “trailing” are used relative to the movement direction of the UAV 10. “Leading” means the portion of the UAV 10 forwardmost in terms of the direction of movement, whereas “trailing” means the portion of the UAV 10 rearmost in terms of the direction of movement of the UAV 10. Given the UAV 10 can move forwards or backwards relative to movement along a transmission line 22, the definition of which is “leading” and “trailing” can swap depending on the direction of movement of the UAV 10.

[0077] The rotor module 11 comprises one or more rotors 12 coaxially arranged. That is, two or more rotors arranged in a vertical stack. The rotor module 11 includes a laterally extending rotor housing 13. The rotor housing 13 is located about the tips of the rotors. The rotor housing 13 prevents the rotors from contacting an object when flying, such as the transmission line 22. The rotor housing 13 has a diameter greater than the diameter of the rotors. The rotor housing 13 has a height that is sufficient to overlap the rotor(s). The rotor housing 13 may include structural members 9 that attach directly or indirectly to the shaft 15. The shaft 15 may vertically align with the centre of the rotor module 11, that is a point equidistant from the inner surface of the rotor housing 13. The shaft 15 may include a tool storage 7 on the shaft. The tool storage 7 may provide tools for the robotic arm 21 to use.

[0078] The UAV may comprise an inspection device 18. The inspection device 18 may comprise a plurality of sensors including a first-person view camera (FPV), infrared camera radar, multi-spectral camera, hyperspectral camera, night vision camera, depth sensing camera, a lidar mounted on the surface of the housing, a video capture camera, a micROM camera and an ultraviolet camera. The inspection device 18 is configured to inspect at least the transmission line 22 of the aerial power transmission line system. Other examples of sensors includes in the inspection device may be laser rangefinders, and laser scanners.

[0079] The inspection device 18 may further comprise an object detection module configured to detect an object along the path of the transmission line 22. Typically, the object along the path of the transmission line 22 may be other power lines running parallel to or across the path of the current transmission line 22, or vegetation or man-made structures getting in the path of the virtual flight tunnel. The object detection module may comprise one or more sensors including but not limited to visual cameras, thermal cameras and corona cameras.

[0080] The UAV 10 may comprise a robotic arm 21 configured to perform intervening operations such as regular maintenance and other contact or non-contact based operations and interventions.

[0081] The contact-based inspection and intervention by the robotic arm 21 may comprises identification and elimination of foreign objects 8 accidentally attached to the aerial power transmission line system as shown in Figure 6. [0082] The non-contact based inspection by the robotic arm 21 comprises tracking a target on the transmission line 22 and capturing imagery and lidar data.

[0083] The UAV 10 may comprise an engagement module (not shown) comprising a breaking module configured to regeneratively and/ or mechanically brake and alter momentum of the UAV 10.

[0084] The engagement module may comprise a locking module (also not shown) configured to lock any one of the main wheel 17 or each of the accessory wheels 20 such that the position of the UAV 10 is fixed at a desired location on the path of the transmission line 22. Once locked on the desired location, the UAV 10 may commence regular maintenance, intervention, or inspection operations.

[0085] As shown in Figure 7, the UAV may become stranded on a transmission line 22. In such an instance it is desired that the UAV can be rescued by another UAV, such as a multicopter 30 As shown in Figure 7, the multicopter 30 may include a rescue hoop 29 desired to secure around a hooking module of the UAV 10. In this case, as shown in Figure 7, the hooking module is shown as the inspection device 18, but it will be appreciated that the hooking module of the UAV 10 may be a separate component. During the aerial rescue missions, a rescue UAV 30 is flown up to the UAV 10 performing inspection on the power transmission line 22, connect to the hooking module, and aerially lifts the UAV 10 off the transmission line 22, fly it above the terrain and land safely on the ground. The hooking module may be attached to the main wheel 17.

[0086] The battery 14 may be located below the rotor housing 13. That is, the battery 13 may extend from the centre point of the rotor housing 13. For example, the battery 14 may suspend or attach to a lower shaft that is either an extension of the shaft 15 or a separate lower shaft that extends from the rotor housing. The battery 14 may be electrically connected to at least one of the rotor module or the engagement module.

[0087] The UAV 10 may comprise a solar charging module (not shown) in electric connection with the battery module. The solar charging module is configured to harvest electricity derived from solar energy and charge the battery 14. Thus, serving as an alternate/ additional source of energy to power the UAV 10.

[0088] The solar charging module may comprise one or more solar cells configured to laminate an outer surface of an enclosure of the rotor housing 13. [0089] The UAV 10 may comprise an inductive charging module in electric connection with the battery 14. The inductive charging module comprises one or more solenoid or inductive coils configured to harvest electricity from the aerial power transmission line system and charge the battery 14. The inductive or solenoid coils may be positioned on or in proximity to the main wheel 17 and/or each of the accessory wheels 20 of the UAV so as to be in close proximity to the AC power transmission line 22. Like the solar charging module, the inductive charging module also serves as an alternate/ additional source of energy to power the UAV 10.

[0090] The inductive or solenoid coils comprise an open air or magnetic core, and an AC/DC power rectifier. In one exemplary embodiment, the coils extend on the wheels and a plurality of wires extend from coil to a AC/DC power rectifier positioned in the UAV 10 with the battery. When UAV 10 is proximate to an AC conductor, a portion of the magnetic field generated by transmission line is converted by harvesting system into electrical energy for powering the UAV 10. This rectified energy is used to recharge the battery 14 and other electronic components of the UAV 10.

[0091] Consequently, the inductive charging module is also configured to charge the battery in transit while moving across the transmission line 22, thus, saving time and improving efficiency.

[0092] The UAV 10 may further comprise a motor. In one implementation, the UAV is transported through the path of the transmission line 22 operation of the motor. In other implementation, the coaxial rotor 12 of the rotor module 11 transport the UAV along the path of the transmission line 22. This is in case when one of the rotor module or the motor ceases operation, the other can be used to transport the UAV 10 along the path of the transmission line 22.

[0093] The UAV 10 further comprises a computational module configured to determine distance to the object along the path of the transmission line 22 of the aerial power transmission line system from the data received from the sensors of the inspection device 18.

[0094] The UAV 10 may further comprise a flight controller (described as controller herein) comprising an electronic system that contains software and hardware elements that allow the UAV 10 to be remotely controlled. The controller includes one or more processors that communicate with a navigation sensor, such as a GPS receiver. The navigation sensor may be provided in or on the rotor housing 13 and may comprise one or more components such as a GPS antenna, data antenna, gimballed camera, and a compass.

[0095] The controller is configured to control the rotor module 11 and the engagement module to autonomously manoeuvre the UAV 10. The controller is further configured to control the pitch, yaw and roll of the UAV 10. The controller is also configured to dock the UAV 10 on to the transmission line 22 by: flying the UAV 10 to the transmission line 22 until the shaft contacts the transmission line 22; lower the altitude of the UAV 10 until the main wheel 17 engages with the transmission line 22. The controller is also configured to control the lateral movement side effect.

[0096] The UAV 10 further comprises an on-board processor configured to receive and process signals received from the inspection and/ or sensing modules. The on-board processor may comprise one or more electronic boards and/or a computer. The on-board processor may include one or more sensors selected from accelerometers, rate gyros, barometric altitude, airspeed sensors or a combination of two or more.

[0097] The on-board processor is configured to run programmed computer software comprising computer vision and/ or object tracking and/ or object detection and/ or Al algorithms and/ or artificial neural network models.

[0098] The processor further comprises a wireless transmitter and a receiver configured to transmit and receive encoded information from the processor to a server.

[0099] The shaft 15 may comprise a sensor configured to determine contact of the shaft with the transmission line 22.

[0100] The controller is configured to perform autonomous docking of the UAV 10 on the transmission line 22. The autonomous docking aspect of the present disclosure is rendered in Figure 4.

[0101] The process of autonomous docking according to an implementation comprises flying UAV 10 to the transmission line 22 until the shaft 15 reaches the same altitude of the transmission line 22. The controller then increases the altitude of the UAV 10 such that shaft 15 is in physical contact with the conductor, and this is confirmed by the sensors on the shaft. Once the contact is established, the controller then lowers the altitude of the UAV 10 until the main wheel 17 lands on the transmission line 22. [0102] The battery 14 may also be configured to provide electrical energy to the components of the UAV including the rotor, main wheel 17, motor, accessory wheel 20, the inspection device and the robotic arm.

[0103] The battery 14 may include one or more mounting brackets on a surface of the battery 14. The mounting bracket may be based on a clip, friction fit, screw mount or clamp. The mounting bracket may be a quick release bracket. The bracket provides for mounting one or more payloads on battery 14 directly. This design allows a user to mount a payload directly on the battery 14 without carrying the weight of a separate mounting structure.

[0104] The battery 14 may comprise any suitable rechargeable battery including but not limited to lithium polymer batteries. The battery may have a capacity of about 20000, 25000, 30000, 35000, 40000, 45000 or 500000 mAh, and useful ranges may be selected between any of these values. In some embodiments, the battery may be a removable battery.

[0105] The battery 14 may be removable and/ or replaceable, and provided within a casing for the battery. The casing for the battery may be configured to be detachably coupled to the rotor housing. The casing may attach to the rotor housing. The casing for the battery 14 may form as an at least partial surround for the battery 14. The casing for the battery 14 may assist in locating or supporting the battery 14. In some configurations the casing for the battery 14 may extend the length of the battery 14, or at least a majority of the length of the battery 14. In one embodiment, the casing for the battery 14 defines an external appearance of the UAV when the casing for the battery 14 is attached to the rotor housing 13. In one embodiment, the casing for the battery 14 may be wholly or partially received within the rotor housing 13.

[0106] Figure 4 illustrates the UAV 10 ascending an incline of the transmission line 22 as it nears a tower 25, and descending an incline as it moves away from the tower 25. The UAV 10 may operate the rotor assemblies to provide upward lift along incline and downward descent as it descends an incline.

[0107] As shown in Figure 3 and 4, when approaching a tower 25 or obstacle 23, the inspection device 18 with the use of sensors estimates a distance to the obstacle. The UAV 10 upon receiving this information from the inspection device 18:

(i) gets within a preset limit to the obstacle, (ii) detach from the transmission line 22 by ascending in an upward direction (i.e. , fly above) from the transmission line 22 by a first predetermined distance,

(iii) flies sideway for a second predetermined distance to fly over or about the obstacle,

(iv) reattaches itself to the transmission line 22 by descending downward and moves either of the main wheel 17 or the accessory wheels 20.

[0108] The first predetermined distance may be calculated by one or more of the sensors and is ideally substantially greater than the length of the obstacle.

[0109] The second predetermined distance may be calculated by one or more of the sensors and is ideally substantially greater than the width of the obstacle.

[0110] The UAV 10 moves along the transmission line 22 in a forward direction. The UAV 10 may be moved forwardly by electrically driving the main wheel 17. Alternatively, the UAV may also be driven on each of the accessory wheels 20.

[0111] Upon detaching from the transmission line 22, and when ascending upwards from the transmission line 22 and when flying side ways above the obstacle on the transmission line 22, the rotor may be driven at a higher speed to gain the momentum necessary for maintaining the altitude and weight of the UAV.

[0112] When descending downwards and upon reattaching to the transmission line 22, the rotor may be driven to brake and slow the descent of UAV 10 and move the UAV on the main wheels or the accessory wheels. In Figure 4, the UAV 10 passes over an obstacle 23, such as a cable spreader 23.

[0113] Figure 4 shows a UAV 10 navigating past an obstacle by engaging either of the main wheel 17 or each of the accessory wheels 20 to circumvent the obstacle 23. In this example, the UAV 10 passes over the obstacle 23 while maintaining the main wheel 18 or accessory wheels 20 on the transmission line 22.

[0114] As shown in Figure 3, a UAV 10 comprises a rotor module configured to lift and drive the drone; a main wheel and two or more rotatable arms 19, each rotatable arm 19 comprising an accessory wheel 20 at a distal end; wherein, at a given time, either one of the main wheel or each of the accessory wheels engage with and drive the UAV 10 across a power transmission line. [0115] As shown in Figure 3, when approaching a tower or obstacle 23, the inspection device 18 with the use of sensors estimates a distance to the obstacle. When it is determined that the distance to the obstacle is within a pre-set limit (for example, less than distance D), the controller engages the breaking module to break and the halt the movement of the of the UAV 10 on the conductor.

[0116] When the UAV 10 approaches an obstacle and its movement is halted, each of the arms 19 are then rotated about a substantially horizontal axis such that each of the accessory wheels 20 contact the transmission line 22. The rotation of each of the accessory wheels to contact the conductor lifts the main wheel 18 from the transmission line 22. The UAV is then driven along the path of the conductor on each of the accessory wheels 20.

[0117] The movement of the UAV on the accessory wheels occurs until at least the main wheel lifted from the transmission line 22 crosses or circumvents the object. Once this is done, the main wheel re-engages by dropping on the transmission line 22 and moving the UAV across the transmission line 22 on the main wheel. At this time, each of the accessory wheels are unengaged (i.e. , lifted from) from the transmission line 22. This process is repeated until the main wheel reaches another obstacle or the obstacle detection module detects another obstacle along the path of the transmission line 22.

[0118] When the main wheel is in contact with the transmission line 22, each of the accessory wheels are lifted off or lifted from the conductor, and the UAV 10 is driven along the path of the transmission line 22 on the main wheel 18. Alternatively, when each of the accessory wheels 20 are in contact with the transmission line 22, the main wheel 18 is lifted from the transmission line 22, and the UAV is driven along the path of the transmission line 22 on each of the accessory wheels 20.

[0119] The rotation of the accessory wheels 20 for contact with the transmission line 22 lifts the main wheel 18 from the transmission line 22, such that the UAV 10 is driven along the transmission line 22 on each of the accessory wheels 20. The lifting of the main wheel 18 may be a consequence of a spring loaded action of the rotatable arms connected to the main wheel 18.

[0120] Figures 5A and 5B show an embodiment of the invention comprising a UAV having a plurality of robotic arms 21a and 21b, each of which are attached to main wheel 18. One of the arms of the plurality of arms is referred to as a rear arm 21a and the other as front arm 21b. Each arm has 6 degrees of freedom to perform cable rolling, contact-based inspection and intervention. The end of each arm is connected to a wheel and a number of modular devices/sensor.

[0121] Each of the robotic arms may have 2, 3, 4, 5 or 6 degrees of freedom to perform tasks. The tasks may be selected from cable rolling, contact-based inspection and intervention. The end of each robotic arm is connected to the main wheel 18 and a number of modular devices/sensors. Where there are multiple robotic arms 21 , one may be referred to an a rear robotic arm and the other as a front robotic arm (based on the direction of movement of the UAV 10).

[0122] Figure 6 shows how the UAV 10 performs contact interventions.

[0123] In this embodiment, (i) the UAV 10 approaches until the point of intervention is within reach of the one of the rotatable arms 21 (ii) the rear arm and the main wheel 18 lock the UAV 10 to the transmission line 22, and (iii) the robotic arm 21 performs the intervention required.

[0124] In some embodiment the UAV 10 will carry out non-contact based inspections. For example, the UAV 10 may include a visualisation module that utilises Al-based computer vision to track one or more targets. The visualisation module may also capture imagery and lidar data.

[0125] In some embodiment the UAV 10 will carry out contact-based inspections and intervention. The UAV 10 may comprise a robotic arm 21 that is configured to perform contact intervention. The UAV 10 may include sensors integrated in the main wheel 18 that are able to perform contact-based inspections.

[0126] Figure 7 shows an aerial rescue emergency. This may occur when a UAV 10 runs out of power or cannot fly off the transmission line 22 by itself. In such a situation a further UAV 10 may fly to the stranded UAV 10, connect to a connection point on the UAV, and lift the UAV 10 off the transmission line 22 and bring it back to the ground. The connection point may be a hook, a coupler, or the like.

[0127] The processing methods to which embodiments of the disclosure are applied may be produced in the form of a program executed on computers and may be stored in computer-readable recording media. Multimedia data with the data structure according to the disclosure may also be stored in computer-readable recording media. The computer- readable recording media include all kinds of storage devices and distributed storage devices that may store computer-readable data. The computer-readable recording media may include, e.g., Blu-ray discs (BDs), universal serial bus (USB) drives, ROMs, PROMs, EPROMs, EEPROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage. The computer-readable recording media may include media implemented in the form of carrier waves (e.g., transmissions over the Internet). Bitstreams generated by the encoding method may be stored in computer-readable recording media or be transmitted via a wired/wireless communication network.

[0128] The embodiments of the disclosure may be implemented as computer programs by program codes which may be executed on computers according to an embodiment of the disclosure. The computer codes may be stored on a computer-readable carrier.

[0129] The UAV 10 and method of controlling the UAV 10 to which embodiments of the disclosure are applied may include digital devices. The digital devices encompass all kinds or types of digital devices capable of performing at least one of transmission, reception, processing, and output of, e.g., data, content, or services. Processing data, content, or services by a digital device includes encoding and/or decoding the data, content, or services. Such a digital device may be paired or connected with other digital device or an external server via a wired/wireless network, transmitting or receiving data or, as necessary, converting data.

[0130] The digital devices may include, e.g., network computers, personal computers, or other standing devices or mobile or handheld devices, such as personal digital assistants (PDAs), smartphones, tablet PCs, or laptop computers.

[0131] As used herein, "wired/wireless network" collectively refers to communication networks supporting various communication standards or protocols for data communication and/or mutual connection between digital devices or between a digital device and an external server. Such wired/wireless networks may include communication networks currently supported or to be supported in the future and communication protocols for such communication networks and may be formed by, e.g., communication standards for wired connection, including USB(Universal Serial Bus), CVBS(Composite Video Banking Sync), component, S-video(analog), DVI(Digital Visual Interface), HDMI(High Definition Multimedia Interface), RGB, or D-SUB and communication standards for wireless connection, including Bluetooth, RFID (Radio Frequency Identification), lrDA(infrared Data Association), UWB(Ultra-Wideband), ZigBee, DLNA(Digital Living Network Alliance), WLAN(Wireless LAN)(Wi-Fi), Wibro(Wireless broadband), Wimax(World Interoperability for Microwave Access), HSDPA(High Speed Downlink Packet Access), LTE(Long Term Evolution), or Wi-Fi Direct. [0132] The above-described embodiments regard predetermined combinations of the components and features of the disclosure. Each component or feature should be considered as optional unless explicitly mentioned otherwise. Each component or feature may be practiced in such a manner as not to be combined with other components or features. Further, some components and/or features may be combined together to configure an embodiment of the disclosure. The order of the operations described in connection with the embodiments of the disclosure may be varied. Some components or features in an embodiment may be included in another embodiment or may be replaced with corresponding components or features of the other embodiment. It is obvious that the claims may be combined to constitute an embodiment unless explicitly stated otherwise or such combinations may be added in new claims by an amendment after filing.

[0133] When implemented in firmware or hardware, an embodiment of the disclosure may be implemented as a module, procedure, or function performing the above-described functions or operations. The software code may be stored in a memory and driven by a processor. The memory may be positioned inside or outside the processor to exchange data with the processor by various known means.

[0134] It is apparent to one of ordinary skill in the art that the disclosure may be embodied in other specific forms without departing from the essential features of the disclosure. Thus, the above description should be interpreted not as limiting in all aspects but as exemplary. The scope of the disclosure should be determined by reasonable interpretations of the appended claims and all equivalents of the disclosure belong to the scope of the disclosure.

[0135] The above-described preferred embodiments of the disclosure have been provided for illustration purposes, and it will be easily appreciated by one of ordinary skill in the art that various changes or changes may be made thereto or may add or be replaced with other embodiments, without departing from the technical spirit and scope of the disclosure as defined in the appended claims.

Claims

INDICATIVE CLAIMS:

1. An unmanned aerial vehicle (UAV) comprising: a rotor module comprising a coaxially arranged rotor having a substantially vertical axis of rotation and a laterally extending rotor housing, a battery located below the rotor module, a shaft extending vertically from the rotor module to define a distal shaft end, a main wheel, rotatable about a substantially horizonal axis, connected to the distal shaft end, an inspection device, and two or more rotatable arms extending from the main wheel rotatable about a substantial horizontal axis, each rotatable arm having an accessory wheel located at the distal end of the respective rotatable arm.

2. A UAV of claim 1, further comprising an object detection module configured to detect an object along the path of the conductor.

3. A UAV of any one of claims 1 or 2, wherein the engagement module comprises a breaking module configured to regeneratively and/ or mechanically brake and alter momentum of the UAV.

4. A UAV of any one of claims 1 to 3, further comprising an inspection module configured to inspect the conductor of the aerial power transmission line system.

5. A UAV of claim 4, wherein the inspection module comprises one or more sensors including but not limited to a video capture camera, thermal imaging camera, corona camera, micROM camera and an ultraviolet camera.

6. A UAV of any one of claims 1 to 5, further comprising a sensory module comprising one or more sensors including but not limited to a first-person view camera, a radar, a depth sensing camera and a lidar.

7. A UAV of any one of claims 1 to 6, further comprising a robotic arm configured to conduct contact-based inspection and intervention on the aerial power transmission line system.

8. A UAV of any one of claims 1 to 7, wherein the engagement module comprises a locking module configured to lock any one of the main wheel or each of the accessory wheels such that the position of the UAV is fixed at a desired location on the path of the conductor.

9. A UAV of any one of claims 1 to 8, wherein the engagement module comprises a hooking module configured to hook the main wheel to another aerial vehicle during an aerial rescue operation.

10. A UAV of any one of claims 1 to 9, further comprising a battery module electrically connected to at least one of the rotor module or the engagement module.

11. A UAV of any one of claims 1 to 10, further comprising a solar charging module in electric connection with the battery module, wherein the solar charging module is configured to harvest electricity derived from solar energy and charge the battery module.

12. The UAV of claim 11 , wherein the solar charging module comprises one or more solar cells configured to laminate an outer surface of the enclosure housing the rotor module.

13. A UAV of any one of claims 1 to 12, further comprising an inductive charging module in electric connection with the battery, wherein the inductive charging module comprises one or more solenoid or inductive coils configured to harvest electricity from the aerial power transmission line system and charge the battery module.

14. A UAV of any one of claims 1 to 13, wherein the engagement module comprises a motor, and wherein the engagement module is configured to transport the UAV through the path of the conductor of aerial power transmission line system via operation of the motor and/ or the rotor blades of the rotor module.

15. A UAV of any one of claims 1 to 14, further comprising a computational module configured to determine distance to the object along the path of the conductor of aerial power transmission line system.

16. A UAV of any one of claims 1 to 15, wherein the rotor module housing has a height that at least encompasses each of the rotors.

17. A UAV of any one of claims 1 to 16, wherein the UAV further comprises a shaft extending in a perpendicular direction from the rotor module, wherein the shaft connects the engagement module to the rotor module.

18. A UAV of any one of claims 1 to 17, wherein the two or more articulate arms are connected to the main wheel via a spring, and wherein each articulate comprises one or more sensors.

19. A UAV of any one of claims 1 to 18, further comprising: a controller configured to control the rotor system and the engagement module to autonomously maneuver the UAV, and one or more navigation sensors mounted to the enclosure and in communication with the controller.

20. A UAV of any one of claims 1 to 19, further comprising an on-board processor configured to receive and process signals received from the inspection and/ or sensing modules.

21. The UAV of claim 20 wherein the processor further comprises a wireless transmitter configured to transmit encoded information from the processor to a server.

22. The UAV of claim 20 or 21 , wherein the processor further comprises a wireless receiver configured to receive encoded information the server.

23. The UAV of any one of claims 1 to 23, wherein the shaft comprises a haptic sensor and a tactile sensor.

24. The UAV of any one of claims 1 to 23, wherein when the articulated arms are substantially horizontal: the articulated arms are in contact with the conductor and configured to transport the UAV along the path of the conductor of the aerial power transmission line system, and the main wheel is suspended above the articulated arms.

25. The UAV of any one of claims 1 to 24, wherein the rotor module comprises one or more sets of coaxial rotary blades.

26. A method for inspecting an aerial power transmission line comprising providing an unmanned aerial vehicle (UAV), the UAV comprising

• a battery located below the rotor module,

• an inspection device, and

27. The UAV of claim 26, wherein when the main wheel is in contact with the conductor, each of the accessory wheels are lifted off the conductor, and the UAV is driven along the path of the conductor on the main wheel.

28. The UAV of claim 26 or 27, wherein the UAV is configured to move past the detected object by

(i) engaging the accessory wheels to contact the conductor,

(ii) driving the UAV along the path of the conductor on each of the accessory wheels until a distance where the main wheel lifted above the conductor crosses the detected object, and

(iii) re-engaging the main wheel to contact the conductor, and

(iv) driving the UAV along the path of the conductor on the main wheel.

29. The UAV of any one of claims 26 to 28 further comprising a robotic arm.

30. The UAV of claim 29 wherein contact-based inspection and intervention by the robotic arm comprises identification and elimination of foreign objects accidentally attached to the aerial power transmission line system.

31. The UAV of claim 26 or 30, wherein the robotic arm is configured to conduct a noncontact based inspection of the aerial power transmission line system.

32. The UAV of claim 31, wherein non-contact based inspection by the robotic arm comprises tracking a target on the power transmission line and capturing imagery and lidar data.

33. The UAV of any one of claims 26 to 32, wherein based on the determined distance to the object and the main wheel reaching a preset limit of distance to the object, the rotor module is configured to lift the main wheel off the conductor and drive the UAV along the path of the conductor on each of the accessory wheels.

34. The UAV of any one of claims 26 to 33, further comprising: a controller configured to control the rotor system and the engagement module to autonomously maneuver the UAV, and one or more navigation sensors mounted to the enclosure and in communication with the controller.

35. The UAV of claim 34, wherein the controller is further configured to control the pitch, yaw and roll of the UAV.

36. The UAV of any one of claims 26 to 35, further comprising an on-board processor configured to receive and process signals received from the inspection and/ or sensing modules.

37. The UAV of claim 36, wherein the on-board processor is configured to run programmed computer software comprising computer vision and/ or object tracking and/ or object detection and/ or Al algorithms and/ or artificial neural network models.

38. The UAV of claim 36 or 37, wherein the controller is configured to dock the UAV on to the power transmission line by: flying the UAV to the conductor until the shaft contacts the conductor; lower the altitude of the UAV until the main wheel engages with the conductor.

39. The UAV of any one of claims 26 to 39, wherein each of the articulate arms are configured to perform contact-based inspection and intervention of the aerial power transmission line.

40. The UAV of claim 39, wherein the controller is configured to control the lateral movement side effect.