EP-4740280-A1 - ROBOTIC DEVICE FOR COATING AND/OR PRE-TREATMENT OF OVERHEAD TRANSMISSION OR DISTRIBUTION LINE CONDUCTORS

EP4740280A1EP 4740280 A1EP4740280 A1EP 4740280A1EP-4740280-A1

Abstract

A robotic device (300) for applying a coating and/or treatment to an overhead transmission or distribution line includes a pair of wheels (302), (304) configured to run on top of a conductor of the line. A pair of applicators (322), (323) are provided at leading and trailing ends of the device (300) for applying a coating or pre-treatment to the line. The wheels (302), (304) are mounted to a top bar (312) of a T shaped connector (315) of the chassis. The connector (315) includes a stem (314) suspending a main body (350) of the device (300) below the wheels. First and second tanks are located in first and second portions (354), (356) of the main body (350) for storing fluid for use in the pre-treatment or coating process. Fluid is supplied from the tanks to the applicators (322), (323) via pumps through fluid conduits disposed in a hollow interior of the connector (315).

Inventors

COOGAN, Niall
AREVALO, Arpys
DORZI, Rafic
SAXENA, TANMAY
HIGBEE, Oliver
LORIMER, Trevor

Assignees

Cable Coatings Limited

Dates

Publication Date: 20260513
Application Date: 20240704

Claims (1)

1. A robotic device configured to pre-treat and/or coat an overhead transmission or distribution line, the line comprising a set of one or more conductors; wherein the robotic device comprises a pre-treatment module and/or a coating application module; and wherein the robotic device further comprises an obstacle avoidance module; wherein the robotic device comprises one or more applicators for performing pre-treatment and/or coating operations; wherein each applicator is configured to engage with one of the set of one or more conductors of the line to apply a pre-treatment or coating thereto in use; wherein each applicator of the one or more applicators is selectively retractable from the conductor in order to pass an obstacle in use; wherein the device comprises a plurality of wheels which are configured to engage and run on one or more of the set of one or more conductors of the line in use to mount the device to the line, wherein the wheels are configured to roll over obstacles encountered, such as mid-span obstacles including splice connections, dampers, spacers or compression fittings. 2. The robotic device of claim 1 wherein at least one applicator of the one or more applicators is coupled to a chassis of the robotic device by a coupling enabling retraction of the applicator from the conductor in use, wherein the coupling enables the applicator to move relative to the chassis of the device in order to retract from the conductor in use, for example wherein the coupling comprises parts movable relative to one another in use to enable retraction of the applicator; optionally wherein the coupling comprises a revolute joint, swing arm, prismatic joint or a four- bar link mechanism. 3. The robotic device of claim 1 or claim 2 wherein a chassis of the robotic device comprises portions coupled to one another at one or more central coupling, wherein each central coupling is defined between a pair of arms of the chassis movable relative to one another to transition the central coupling from a closed configuration in which the arms connect the chassis portions and an open configuration for passing an obstacle, wherein at least one applicator is mounted to one of the chassis arms, whereby movement of the arm upon opening of the respective central coupling retracts the applicator. 4. The robotic device of any preceding claim wherein at least one, and optionally each, applicator of the one or more applicators is coupled to a chassis of the robotic device by a multi-axis robotic arm, for example having at least 6 axes. )botic device of any preceding claim wherein each applicator is selectively retractable from the conductor with which it engages under the control of the obstacle avoidance module. 6. The robotic device of any preceding claim wherein the robotic device comprises a plurality of the applicators, and individual applicators are independently and selectively retractable from respective conductors of the line as required in order to pass obstacles. 7. The robotic device of any preceding claim wherein the device comprises a pre-treatment module, and the one or more applicators comprise a set of one or more applicators configured to apply pre-treatment in the form of one of more of; surface preparation, cleaning, mechanical abrasion, and chemical treatment to one or more conductors of the set of one or more conductors of the line. 8. The robotic device of any preceding claim wherein at least one, and optionally each, of the one or more applicators is configured to pre-treat or coat its respective conductor by applying a fluid thereto by a contact-based method, for example wherein the method is selected from; brushing, rolling, dip coating, fluid jetting, flow coating, fluid deposition and doctoring, electrostatic coating, slot die coating, annular die coating, extruding and combinations thereof. 9. The robotic device of any preceding claim wherein the device comprises a coating application module and a set of one or more applicators configured to apply the coating, wherein each of the applicators for applying the coating is configured to coat its respective conductor by applying a fluid thereto by a contact-based method, for example wherein the method is selected from; brushing, rolling, dip coating, fluid jetting, flow coating, fluid deposition and doctoring, electrostatic coating, slot die coating, annular die coating, extruding and combinations thereof. 10. The robotic device of any preceding claim wherein a pre-treatment module is provided, the pre-treatment module being configured to provide complete circumferential coverage of the pre-treatment in respect of the conductor(s) to which pre-treatment is provided, and/or wherein a coating application module is provided, the coating application module being configured to provide complete circumferential coverage of the coating in respect of the conductor(s) to which coating is provided. 11. The robotic device of any preceding claim wherein at least one, and optionally each, applicator of the one or more applicators is configured to circumferentially surround the conductor when engaged around the conductor for applying the coating or pre-treatment thereto. )botic device of any preceding claim wherein at least one applicator of the one or more applicators defines an annular shape when in a configuration for engaging around the conductor to apply the coating or pre-treatment to thereto, defining a central bore for receiving the conductor; optionally wherein the device comprises a coating application module and a set of one or more applicators configured to apply the coating, wherein each of the one or more applicators for applying the coating is configured in this manner. 13. The robotic device of any preceding claim wherein at least one, and optionally each applicator of the one or more applicators is configured to transition between a closed configuration for engaging around the conductor of the line to apply a pre-treatment or coating thereto and an open configuration for disengaging from the conductor for passing an obstacle; optionally wherein the device comprises a coating application module and a set of one or more applicators configured to apply the coating, wherein each of the one or more applicators for applying the coating is configured in this manner. 14. The robotic device of claim 13 wherein the at least one applicator of the one or more applicators comprises first and second parts connected to one another at a hinge, wherein the first and second parts are rotatable relative to one another about the hinge to transition the applicator between the open and closed configurations, for example wherein the applicator defines a clam-shell structure. 15. The robotic device of claim 13 or 14 wherein the at least one applicator of the one or more applicators is configured to transition from the closed configuration to the open configuration for disengaging from its conductor for passing an obstacle, for example under the control of the obstacle avoidance module. 16. The robotic device of any one of claims 13 to 15 wherein the device comprises a plurality of the applicators configured to transition between open and closed configurations, and individual applicators are selectively and independently transitionable between the open and closed configurations as required in order to pass obstacles, for example under the control of the obstacle avoidance module. 17. The robotic device of any one of claims 13 to 16 comprising an actuator associated with each applicator configured to transition between open and closed configurations for causing the applicator to transition between its open and closed configurations. 18. The robotic device of any preceding claim comprising a set of one or more applicators for performing pre-treating and/or a set of one or more applicators for performing coating operations, preferably wherein the robotic device comprises both nt module and a coating application module and comprises a set of one or more applicators for performing pre-treating operations and a set of one or more applicators for performing coating operations. 19. The robotic device of any preceding claim wherein each wheel is selectively retractable from a respective one of the set of one or more conductors of the line on which it runs in order to pass an obstacle. 20. The robotic device of claim 19, wherein the device is configured such that when a wheel retracts from the conductor of the line on which it runs to pass an obstacle at least one other of the wheels remains engaged with the conductor of the line on which it runs to provide stable support to the robotic device in use. 21. The robotic device of any one of claims 19 or 20 wherein individual wheels are independently and selectively retractable from respective conductor(s) of the line in use as required in order to pass obstacles. 22. The robotic device of any preceding claim wherein each wheel is coupled to a chassis of the robotic device by a coupling enabling the wheel to move relative to the chassis of the device in order to retract from the conductor in use, for example wherein the coupling comprises parts movable relative to one another in use to enable retraction of the wheel; optionally wherein the coupling comprises a sprung joint, revolute joint, swing arm, prismatic joint, robotic arm, levered screw mechanism or a four-bar link mechanism; and/or wherein the device comprises a chassis having first and second longitudinally extending portions connected to one another by first and second central couplings at leading and trailing ends thereof, wherein the first and second central couplings are selectively openable to retract one or more wheels and optionally one or more applicators of the device from engagement with their respective conductors for passing an obstacle. 23. The device of any preceding claim wherein the wheels are pulley wheels. 24. The device of any preceding claim further comprising one or more fluid tanks for holding fluid for use in pre-treatment and/or coating of the line. 25. The device of claim 24 wherein the one or more fluid tanks are disposed entirely below the wheels. 26. The device of claim 24 or claim 25 further comprising a fluid delivery system for supplying fluid from the one or more tanks to one or more of the applicators of the pre-treatment module and/or coating application module, wherein the fluid im comprises a set of one or more pumps and a set of one or more fluid conduits for supplying fluid to the applicator(s). 27. The device of any one of claims 1-26 wherein the robotic device comprises a main body suspended below the wheels by a chassis of the device; optionally wherein the main body is located below the wheels by a distance of at least 15cm. 28. The device of claim 27 as dependent directly or indirectly on any of claims 24 to 26 wherein the one or more fluid tanks of the device are housed in the main body of the device. 29. The device of claim 28 as dependent directly or indirectly on claim 26 wherein the one or more pumps are located in the main body of the device, and the one or more fluid conduits pass through a hollow interior of a part of the chassis suspending the main body of the device below the wheels to reach the one or more applicators. 30. The device of any preceding claim wherein the plurality of wheels comprise first and second wheels configured to run on a first conductor of the set of one or more conductors of the line, the wheels being spaced apart and located one behind the other along a longitudinal direction of the robotic device. 31. The device of claim 30 wherein the first and second wheels are spaced apart along the length of the device by a distance of at least 20cm, or at least 25cm and/or by a distance of less than 250cm, or less than 200cm; optionally wherein the wheels are spaced apart by a distance in a range of from 25cm to 200cm; and/or wherein each wheel has a diameter in the range of from 35 cm to 50cm. 32. The device of claim 30 or 31 wherein the chassis of the device comprises a longitudinally extending tubular support to which the first and second wheels are mounted; optionally wherein the wheels are coupled to the tubular support in a manner such that the support is disposed laterally outboard of the wheels. 33. The device of claim 32 as dependent directly or indirectly on claim 29wherein one or more fluid conduit(s) of the fluid delivery system pass through the hollow interior of the tubular support to reach the one or more applicators. 34. The device of any of claims 30 to 33 wherein the first and second wheels are disposed at leading and trailing ends of the device respectively. 35. The device of claim 34 wherein the device comprises a coating application module, the coating application module comprising an applicator disposed at a : the chassis to the trailing side of second wheel; and/or wherein the device comprises a pre-treatment module, the pre-treatment module having an applicator disposed at a leading end of the chassis to the leading side of the first wheel and/or an applicator at a trailing end of the chassis to the trailing side of the second wheel. 36. The device of any one of claims 30 to 35 wherein the chassis comprises a T- shaped connector defining a stem and a top bar, the top bar defining arms on either side of the stem, wherein the first and second wheels are mounted to respective ones of the arms, and a main body of the device is mounted to a bottom of the stem of the T-shaped connector. 37. The device of claim 36 wherein one or more fluid tanks for holding fluid for use in pre-treatment and/or coating of the line are housed in the main body of the chassis suspended below the wheels by the T-shaped connector. 38. The device of claim 37 comprising a fluid delivery system for supplying fluid from the one or more tanks to the pre-treatment module and/or coating application module, wherein the T-shaped connector defines an internal cavity through which a set of one or more fluid conduits pass to deliver fluid from the one or more tanks to one or more applicators of the pre-treatment and/or coating application modules. 39. The device of claim 38 wherein one or more pumps are provided in the main body of the chassis for pumping fluid from the one or more tanks in use through the set of one or more fluid conduits to the one or more applicators. 40. The device of any of claims 36 to 38 wherein the main body of the chassis comprises notional leading, central and trailing portions along the longitudinal direction, wherein the base of the stem of the T-shaped connector is connected to the central portion of the main body; and/or wherein the base of the stem of the T- shaped connector is connected to the main body at a longitudinally extending edge thereof. 41. The device of claim 40 wherein first and second fluid tanks for holding fluid for use in pre-treatment and/or coating of the line are provided within the leading and trailing portions respectively; optionally wherein the central portion houses the one or more pumps of the fluid delivery system. 42. The device of any one of claims 1-29 wherein the plurality of wheels comprise first and second wheels configured to run on a first conductor of the set of one or more conductors of the line, the wheels being spaced apart and located one behind the other along a longitudinal direction of the robotic device, and third and configured to run on a second conductor of the set of one or more conductors of the line, the wheels being spaced apart and located one behind the other along a longitudinal direction of the robotic device, wherein the first and third wheels and second and fourth wheels respectively define first and second pairs of wheels located one behind the other and spaced apart along the longitudinal direction of the device. 43. The device of claim 42 wherein the device comprises a chassis having first and second halves, the first and second wheels are mounted to a the first half of the chassis and the third and fourth wheels are mounted to the second half of the chassis, wherein the chassis comprises first and second central couplings bridging between the chassis halves at a first end and a second end thereof, wherein each central coupling is selectively and independently transformable from a closed, configuration in which it connects the chassis halves and an open, configuration in which the chassis halves are decoupled from one another at the coupling, wherein the first central coupling is defined between first and second rotatable arms of the chassis, and the second central coupling is defined between third and fourth rotatable arms of the chassis, wherein the first and third wheels are mounted to the first and second rotatable arms respectively, and the third and fourth wheels are mounted to the third and fourth rotatable arms respectively, wherein rotation of any one of the first, second, third and fourth arms to open the central coupling of which the arm forms part disengages the wheel mounted thereto from its conductor and moves the wheel to a retracted position for passing an obstacle. 44. The device of claim 43 wherein the first, second, third and fourth arms are selectively and independently rotatable to transform their respective couplings between the closed and open configurations. 45. The device of claim 43 or 44 wherein the obstacle avoidance module is configured to selectively transform only one of the central couplings to the open configuration for passing an obstacle at a time while the other central coupling remains in its closed, coupled configuration to maintain a stable connection between the chassis halves 46. The device of any one of claims 43 to 45 wherein at least one applicator of the one or more applicators is mounted to one of the first, second, third and fourth arms, wherein the applicator will be moved together with the wheel to a retracted position on rotation of the arm to open one of the central couplings. 47. The device of claim 46 wherein the first and second wheels are connected to one another by a first longitudinally extending tubular support of the first chassis third and fourth wheels are connected to one another by a second longitudinally extending tubular support of the second chassis half. 48. The device of claim 47 wherein the chassis comprises a first housing suspended below the first tubular support and comprising a first fluid tank, and a second housing suspended below the second tubular support and comprising a second fluid tank. 49. The device of claim 48 wherein one or more fluid conduits pass through the hollow interior of each of the first and second supports to supply fluid from the respective one of the first and second tanks to one or more of the applicators of the device. 50. The device of any preceding claim wherein the robotic device defines an empty space extending over a distance of at least 15cm below a lowermost conductor contacting point of each wheel of the device. 51. The device of any preceding claim wherein the device only includes wheels configured to run on top of conductor(s) of the line in use and does not include wheels running below conductors of the line. 52. The device of any preceding claim wherein the wheels of the device are exposed and are not disposed within any housing. 53. The robotic device of any preceding claim comprising a set of a plurality of applicators for performing pre-treating and/or a set of a plurality of applicators for performing coating operations, wherein, when the line comprises a set of multiple conductors, different applicators of each set of applicators may engage with different respective conductors of the set of conductors to enable pre-treating and/or coating of multiple conductors of the set of multiple conductors in a single pass. 54. The robotic device of any preceding claim, wherein the device has a weight in the range of from 25 to 75Kg. 55. An overhead transmission or distribution line system comprising: an overhead transmission or distribution line comprising a set of one or more conductors; and one or more robotic devices in accordance with any preceding claim. 56. The overhead transmission or distribution line system of claim 55 wherein the set of one or more conductors are in respect of a given phase of the overhead transmission or distribution line, the set of one or more conductors being a single a bundle of a plurality of conductors, such two, three, four or more conductors. 57. The system of claim 55 or 56 wherein at least two wheels of the device are configured to run on the same conductor where the set of one or more conductors of the line comprises a plurality of conductors; optionally wherein one or more applicators are configured to engage around the same conductor. 58. The system of any of claims 55 to 57 wherein at least some of the one or more applicators are capable of engaging with different ones of the plurality of conductors where the set of one or more conductors of the line comprises a plurality of conductors for applying the pre-treatment and/or coating thereto, for example wherein these applicator(s) are mounted to a chassis of the device by a multi-axis robotic arm. 59. The system or device of any preceding claim comprising a plurality of the applicators, wherein at least some of the applicators are configured to engage with the same conductor of the set of one or more conductors for applying the pretreatment and/or coating thereto; and/or wherein at least some of the applicators are configured to engage with different conductors of the plurality of conductors where the set of one or more conductors of the line comprises a plurality of conductors for applying the pre-treatment and/or coating thereto. 60. A method comprising: installing a robotic device as set out in any of claims 1-54 on an overhead transmission or distribution line; and causing the robotic device to traverse the line while applying a coating and/or pre-treatment thereto and passing one or more obstacles. 61. A retrofit coating system configured to coat an overhead transmission or distribution line with a coating comprising: a robotic device as disclosed in any of claims 1 to 54; and a coating material to be applied by the robotic device to an overhead transmission or distribution line so as to form a coating on the overhead transmission or distribution line.

Description

ROBOTIC DEVICE FOR COATING AND/OR PRE-TREATMENT OF OVERHEAD TRANSMISSION OR DISTRIBUTION LINE CONDUCTORS BACKGROUND The present invention relates a robotic device configured to pre-treat and/or coat an overhead transmission or distribution line, an overhead transmission or distribution line system, a method and a retrofit coating system configured to coat an overhead transmission or distribution line with a coating. Described herein are methods, systems and a device for in-situ coating of overhead transmission and distribution conductors with a robotic crawler capable of passing mid-span obstacles. A confluence of global trends are driving the need for increased transmission and distribution capacity. These include electrification, renewable energy generation development and population growth. World electricity generation is forecast to grow 25-45 trillion kWh between 2020 and 2050 (US EIA, 2020). Currently, the mechanisms to increase transmission and distribution capacity involve reconductoring overhead lines or building new transmission and distribution lines. These approaches involve heavy engineering, right of way disputes/issues of social acceptance, long project lead times and are capital intensive. Accordingly, to meet the growing electricity demand, cost effective methods to increase transmission and distribution capacity are required. Spectrally selective coatings have emerged as a novel solution to increase the capacity of overhead transmission and distribution (T+D) conductors. These spectrally selective coatings work to enhance the capacity of overhead transmission and distribution conductors by optimising the surface for passive radiative cooling: maximised solar reflectivity (above 0.8) and maximised thermal emissivity (above 0.9). This passive temperature reduction of overhead transmission and distribution lines permits a higher current carrying capacity for a fixed cross sectional area or low power losses for a fixed operating current. Such coatings have been demonstrated to increase transmission capacity by up to 30% or reduce transmission power losses by up to 15%. Examples of such coatings are described in WO 2020/053559, WO 2021/105673, WO 2021/152311 , WO 2021/181076 and WO 2022/003096. The direct application of capacity enhancing coatings to overhead transmission and distribution conductors in situ represents an opportunity for network operators to uprate transmission and distribution assets without reconductoring or building new lines. Such an innovation would obviate heavy engineering, long project times and significantly reduce cost. I be disclosed in more detail below, according to various embodiments of the present invention robotic technology is disclosed which is capable of connecting to overhead lines, moving down the line and pre-treating the line and/or coating the line. Various coating robots are known. It is desired that a robotic device is provided which is capable of obstacle navigation. Transmission and distribution lines are comprised of various obstacles which include spacers, spacer dampers, suspension clamps, vibration dampers and suspension towers. Any scalable and productive transmission line coating robot needs to be able to effectively navigate at least some of these obstacles, such that operation is not contingent upon removal of these in advance. Furthermore, the issue of conductor bundling should be addressed. Each phase of a transmission or distribution line can exist in bundles comprising two, three, four or more conductors. The geometry of these bundles may vary according to the number of conductors in the phase. Transmission line coating robots should ideally be capable of coating multiple conductors of a bundle (which may also be referred to herein as “sub-conductors”) in one pass, for all conductor configurations. According to various embodiments of the present invention a robotic device is disclosed which comprises in-situ overhead transmission or distribution line pretreatment and/or coating capability and/or obstacle navigation capability and/or the capability of pre-treating and/or coating multiple conductors per phase. Known devices can be categorised into two broad categories: (i) transmission line inspection robots; and (ii) transmission line coating robots. Transmission line inspection robots Various types of transmission line inspection robots are known. Transmission line inspection is a routine part of maintenance, in which damage and signs of aging are inspected, reported and maintained if required. Transmission line inspection may be performed by humans, walking along the lines, but this is an inherently dangerous and labour intensive task. Alternatively, conductors may be inspected aerially by use of a helicopter. However, it will be understood that this incurs a substantial financial cost and requires specialised labour for operation. Drones have also emerged as a means for transmission line inspection with the aim of reducing the cost a