US-12620787-B2 - System and method for stringing spans of cable

Abstract

Systems and methods are described for stringing spans of cable, in particular, electric power transmission lines between utility poles using a robotic device suspended from an unmanned aerial vehicle (“UAV”). In some aspects, a thrust assembly suspended by a UAV pulls the cable from pole to pole whereas in other aspects, an aerial robot integrating the functions of the thrust assembly and the UAV pulls the cable from pole to pole.

Inventors

• Jason Peter Clarke
• Daniel John Clarke

Assignees

• FT HOLDINGS INC.

Dates

Publication Date

20260505

Application Date

20231024

Claims (19)

1. 1 . A system for stringing a span of cable, the system comprising a robotic aerial assembly for pulling the cable, wherein the robotic aerial assembly comprises: a) an aerial thrust assembly, comprising: i) a central frame rod having a first end and second end, ii) at least one electric motor disposed on the first end, the at least one electric motor operatively coupled to a propeller, iii) a quick release assembly disposed on the second end, the quick release assembly configured for releasable coupling to the cable, and iv) a battery assembly disposed on the central frame rod, the battery assembly operatively coupled to the at least one electric motor; and b) an unmanned aerial vehicle (“UAV”) for suspending the aerial thrust assembly above a ground surface.
2. 2 . The system as set forth in claim 1 , further comprising: a) a computer operatively coupled to the at least one electric motor, the computer operatively powered by the battery assembly; b) a radio modem operatively coupled to the computer, the radio modem operatively powered by the battery assembly; and c) at least one radio antenna operatively coupled to the radio modem.
3. 3 . The system as set forth in claim 2 , further comprising a ground station wireless transceiver for transmitting and receiving signals to and from the radio modem.
4. 4 . The system as set forth in claim 2 , further comprising an upright assembly operatively coupled to the aerial thrust assembly, the upright assembly configured for coupling to the UAV, wherein the computer, the radio modem and the at least one radio antenna are disposed on the upright assembly.
5. 5 . The system as set forth in claim 1 , wherein the battery assembly comprises: a) a battery plate operatively coupled to the central frame rod; and b) one or more batteries disposed on the battery plate.
6. 6 . The system as set forth in claim 1 , wherein the at least one electric motor comprises two electric motors with propellers attached thereto, the two electric motors configured to rotate in opposite directions to each other.
7. 7 . The system as set forth in claim 1 , wherein the robotic aerial assembly comprises: a) a central frame rod having a first end and second end; b) at least one electric motor disposed on the first end, the at least one electric motor operatively coupled to a propeller, the at least one electric motor rotatably coupled to the central frame rod; c) a quick release assembly disposed on the second end, the quick release assembly configured for releasable coupling to the cable; and d) a battery assembly disposed on the central frame rod, the battery assembly operatively coupled to the at least one electric motor.
8. 8 . The system as set forth in claim 7 , further comprising: a) a first control servo mechanism for rotating the at least one electric motor vertically up and down relative to the central frame rod; and b) a second control servo mechanism for rotating the at least one electric motor horizontally side-to-side relative to the central frame rod.
9. 9 . The system as set forth in claim 7 , further comprising: a) a computer operatively coupled to the at least one electric motor, the computer operatively powered by the battery assembly; b) a radio modem operatively coupled to the computer, the radio modem operatively powered by the battery assembly; and c) at least one radio antenna operatively coupled to the radio modem.
10. 10 . The system as set forth in claim 9 , further comprising a ground station wireless transceiver for transmitting and receiving signals to and from the radio modem.
11. 11 . The system as set forth in claim 7 , wherein the battery assembly comprises: a) a battery plate operatively coupled to the central frame rod; and b) one or more batteries disposed on the battery plate.
12. 12 . The system as set forth in claim 7 , wherein the at least one electric motor comprises two electric motors with propellers attached thereto, the two electric motors configured to rotate in opposite directions to each other.
13. 13 . A method for stringing a span of cable disposed on a spool over a plurality of utility poles, each utility pole comprising a cable sheave disposed thereon, the method comprising: a) attaching the cable to a robotic aerial assembly; b) operating the robotic aerial assembly to raise the cable, thereby dispensing the cable from the spool, to bring the cable near the cable sheave of a first of the plurality of utility poles; c) attaching a grappling hook to a portion of the cable near the spool; and d) operating the robotic aerial assembly further to pull the cable onto the sheaves of one or more of the plurality of the utility poles.
14. 14 . The method as set forth in claim 13 , further comprising: a) passing the grappling hook over the sheave over a last of the plurality of the utility poles; and b) releasing the cable from the robotic aerial assembly whereby the grappling hook catches on the sheave of the last of the plurality of utility poles to keep the cable in place.
15. 15 . The method as set forth in claim 13 , wherein the robotic aerial assembly comprises: a) a central frame rod having a first end and second end; b) at least one electric motor disposed on the first end, the at least one electric motor operatively coupled to a propeller, the at least one electric motor rotatably coupled to the central frame rod; c) a quick release assembly disposed on the second end, the quick release assembly configured for releasable coupling to the cable; and d) a battery assembly disposed on the central frame rod, the battery assembly operatively coupled to the at least one electric motor.
16. 16 . The method as set forth in claim 15 , wherein the robotic aerial assembly further comprises: a) a computer operatively coupled to the at least one electric motor, the computer operatively powered by the battery assembly; b) a radio modem operatively coupled to the computer, the radio modem operatively powered by the battery assembly; and c) at least one radio antenna operatively coupled to the radio modem.
17. 17 . The method as set forth in claim 16 , further comprising using a ground station wireless transceiver for transmitting and receiving signals to and from the radio modem.
18. 18 . The method as set forth in claim 17 , wherein the battery assembly comprises: a) a battery plate operatively coupled to the central frame rod; and b) one or more batteries disposed on the battery plate.
19. 19 . The method as set forth in claim 15 , wherein the at least one electric motor comprises two electric motors with propellers attached thereto, the two electric motors configured to rotate in opposite directions to each other.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. provisional patent application No. 63/421,819 filed Nov. 2, 2022, the content of which is incorporated by reference in its entirety. TECHNICAL FIELD The present disclosure is related to the field of stringing spans of cable, in particular, electric power transmission lines between utility poles using a robotic device suspended from an unmanned aerial vehicle (“UAV”). BACKGROUND The stringing of electric power transmission lines can be time-consuming, labour-intensive, dangerous and expensive. Typically, a pilot line for the transmission line is fed by a human using a helicopter or ground vehicle onto sheaves placed on a series of utility poles wherein the pilot line can be attached to a winch that can then draw the pilot line followed by the transmission line fed from a spool over the series of pole-mounted sheaves. It is, therefore, desirable to provide a system and method that makes the process of stringing electric power transmission lines faster, safer and cheaper. SUMMARY Systems and methods are provided for stringing cables, such as electric power transmission lines, between utility poles using a robotic device suspended from a UAV. For the purposes of this specification, and the claims that follow, the term “cable” shall be defined as including electric power transmission lines in addition to any other form of cable, wire, guy wire or line that can be installed as described and claimed herein. Broadly stated, in some embodiments, a system can be provided for stringing a span of cable, the system comprising a robotic aerial assembly for pulling the cable. Broadly stated, in some embodiments, the robotic aerial assembly can comprise: an aerial thrust assembly; and an unmanned aerial vehicle (“UAV”) for suspending the aerial thrust assembly above a ground surface. Broadly stated, in some embodiments, the aerial thrust assembly can comprise: a central frame rod having a first end and second end; at least one electric motor disposed on the first end, the at least one electric motor operatively coupled to a propeller; a quick release assembly disposed on the second end, the quick release assembly configured for releasable coupling to the cable; and a battery assembly disposed on the central frame rod, the battery assembly operatively coupled to the at least one electric motor. Broadly stated, in some embodiments, the system can further comprise: a computer operatively coupled to the at least one electric motor, the computer operatively powered by the battery assembly; a radio modem operatively coupled to the computer, the radio modem operatively powered by the battery assembly; and at least one radio antenna operatively coupled to the radio modem. Broadly stated, in some embodiments, the system can further comprise a ground station wireless transceiver for transmitting and receiving signals to and from the radio modem. Broadly stated, in some embodiments, the system can further comprise an upright assembly operatively coupled to the aerial thrust assembly, the upright assembly configured for coupling to the UAV, wherein the computer, the radio modem and the at least one radio antenna are disposed on the upright assembly. Broadly stated, in some embodiments, wherein the at least one electric motor can comprise two electric motors with propellers attached thereto, the two electric motors configured to rotate in opposite directions to each other. Broadly stated, in some embodiments, the robotic aerial assembly can comprise: a central frame rod having a first end and second end; at least one electric motor disposed on the first end, the at least one electric motor operatively coupled to a propeller, the at least one electric motor rotatably coupled to the central frame rod; a quick release assembly disposed on the second end, the quick release assembly configured for releasable coupling to the cable; and a battery assembly disposed on the central frame rod, the battery assembly operatively coupled to the at least one electric motor. Broadly stated, in some embodiments, the system can further comprise: a first control servo mechanism for rotating the at least one electric motor vertically up and down relative to the central frame rod; and a second control servo mechanism for rotating the at least one electric motor horizontally side-to-side relative to the central frame rod. Broadly stated, in some embodiments, the battery assembly can comprise: a battery plate operatively coupled to the central frame rod; and one or more batteries disposed on the battery plate. Broadly stated, in some embodiments, a method can be provided for stringing a span of cable disposed on a spool over a plurality of utility poles, each utility pole comprising a cable sheave disposed thereon, the method comprising the steps of: attaching the cable to a robotic aerial assembly; operating the robotic aerial assembly to raise the cable, ther