Apparatus for use on a cable; and a system for and method of inspecting a cable

{
  "publication_number": "US9371960B2",
  "country": "US",
  "kind": "B2",
  "title": "Apparatus for use on a cable; and a system for and method of inspecting a cable",
  "abstract": "The invention relates to an apparatus for use on a cable, particularly to a power line or cable inspection and/or monitoring apparatus or robot. The apparatus typically comprises a power module to power the apparatus, a pair of links serially coupled via at least one joint, a gripper arrangement coupled to each link for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable as an end effector, and grip the cable as a base in a serial manipulator fashion; and a control arrangement configured at least to control displacement of the links and the gripper arrangements to grip and/or release the cable. The invention also extends to a method of inspecting and/or monitoring a cable; an inspection and/or monitoring system for inspecting a cable; and to a method of operating an apparatus on an elongate cable to avoid an obstacle.",
  "claims": [
    "1. An apparatus for use on a cable, the apparatus comprising: a power module adapted to power the apparatus; at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other; a gripper arrangement coupled to each link, the gripper arrangements being adapted for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable; a control arrangement comprising one or more processors configured at least to control displacement of the links and the gripper arrangements to grip and/or release the cable, in use; and one or more of inspection, monitoring, and maintenance systems.",
    "2. An apparatus as claimed in claim 1, wherein the gripper arrangement is controllable to grip or release the cable as an end effector, or grip the cable as a base.",
    "3. An apparatus as claimed in claim 1, wherein the gripper arrangement comprises at least two spaced apart gripper fingers, the gripper arrangement being controllable to displace one or both of the gripper fingers relative to the cable thereby to engage the cable.",
    "4. An apparatus as claimed in claim 3, wherein the gripper arrangement is controllable to grip the cable in first and second engagement positions, and release the cable in a disengaged position, wherein in the first engagement position, both gripper fingers engage the cable, substantially on opposite sides of the cable; wherein in the second engagement position, only one gripper finger engages the cable; and wherein in the disengaged position, both gripper fingers disengage from the cable.",
    "5. An apparatus as claimed in claim 4, wherein the gripper arrangement comprises a gripper frame connected in a serial fashion to the link via a gripper joint, wherein the two gripper fingers are provided on the gripper frame and are spaced apart by a cable locating zone such that, in use, actuation of the gripper joint while the cable is located in the cable locating zone causes the gripper fingers to grip or release the cable.",
    "6. An apparatus as claimed in claim 5, wherein the gripper joint is either a revolute joint such that the gripper frame is substantially rotatable relative to the link on actuation of the revolute joint to grip or release the cable; or a prismatic joint such that the gripper frame, or part thereof, is substantially linearly displaceable relative to the link on actuation of the prismatic joint to grip or release the cable.",
    "7. An apparatus as claimed in claim 1, wherein the at least one joint coupling the links is a revolute core joint operable to displace at least one link substantially about a first axis, or a revolute link joint operable to displace at least one link substantially about a second axis transverse to the first axis, in use.",
    "8. An apparatus as claimed in claim 5, wherein, in use, the apparatus is a serial manipulator, or operates in a serial manipulator fashion, in that one gripper arrangement gripping the cable in the first engagement position serves as a base, and the other gripper arrangement in the disengaged position serves as an end effector.",
    "9. An apparatus as claimed in claim 3, wherein one or both gripper fingers are wheels.",
    "10. An apparatus as claimed in claim 9, wherein the apparatus comprises drive means drivingly coupled to one or both the wheels thereby to selectively cause rotation of one or both the wheels thereby to facilitate moving the apparatus longitudinally along the cable, in use.",
    "11. An apparatus as claimed in claim 9, wherein one or both wheels comprise a circumferentially extending groove comprising traction means disposed therein to receive the cable therein, in use.",
    "12. An apparatus as claimed in claim 3, wherein in the first engagement position, further actuation of the gripper joint provides another degree of freedom to the apparatus as the apparatus is caused to displace relative to the line.",
    "13. An apparatus as claimed in claim 1, wherein each link comprises an elongate first portion extending transversely from a second portion having a longitudinal axis, wherein second portions of the links are coupled via the at least one joint.",
    "14. An apparatus as claimed in claim 13, wherein second portions of the links are coupled to a revolute core joint, and wherein at least one second portion is coupled to the revolute core joint via a revolute link joint, wherein actuation of the revolute link joint causes rotational displacement of the link about the longitudinal axis of the second portion and actuation of the revolute core joint causes rotational displacement of one or both links about an axis perpendicular to the longitudinal axis of the second portion.",
    "15. An apparatus as claimed in claim 14, wherein both second portions of the links are coupled to the core joint via link joints.",
    "16. An apparatus as claimed in claim 1, wherein the cable is a power cable, wherein the power module comprises a transformer arrangement to draw power from the power cable, and wherein the transformer arrangement is operable to serve as a safety device to prevent the apparatus from falling from the power cable, in use.",
    "17. An apparatus as claimed in claim 15, wherein each link comprises resistive portions or elements, thereby to facilitate a measurement determining module determining a voltage drop across the span of two links when both grip the power cable, thereby to facilitate determining at least electrical resistance of a splice.",
    "18. An apparatus as claimed in claim 15, wherein the links comprise electrical fuse portions or elements to serve as failsafe mechanisms should the apparatus fall out of an electrical clearance window of a power cable to which the same is attached.",
    "19. An inspection and/or monitoring system for inspecting a cable, the inspection system comprising: a database for storing data; and a receiver module configured to receive one or more signals comprising data associated with the cable from at least one apparatus comprising a power module adapted to power the apparatus; at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other; a gripper arrangement coupled to each link for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable; and a control arrangement comprising one or more processors configured to control displacement of the links and the gripper arrangements to grip and/or release the cable, in use.",
    "20. A method of operating an apparatus on an elongate cable to avoid an obstacle, wherein the apparatus comprises a power module adapted to power the apparatus; at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other; a gripper arrangement coupled to each link for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable; and a control arrangement comprising one or more processors configured to control displacement of the links and the gripper arrangements to grip and/or release the cable, in use, the method comprising: operating the gripping arrangement of one link of the apparatus to grip the cable such that the same serves as a base; operating the gripping arrangement of the other link of the apparatus to release the cable thereby freeing up the same for spatial displacement as an end effector; and causing displacement of the links relative to each other and/or the base relative to the associated link thereby to move the end effector to a region on the cable, or jumper cable, beyond the obstacle; and causing the end effector to engage and grip the cable, or jumper cable, beyond the obstacle."
  ],
  "description_excerpt": "This invention relates generally to methods and apparatuses for inspecting and monitoring cables particularly overhead power cables or power lines. The invention relates more specifically to an apparatus for use on a cable, particularly to a power line or cable inspection and/or monitoring apparatus or robot; a method of inspecting and/or monitoring a cable; an inspection and/or monitoring system for inspecting a cable; and to a method of operating an apparatus on an elongate cable to avoid an obstacle.\n\nIn South Africa, and around the world, electricity utilities are required to inspect energised electrical power conductors power lines or cables as well as insulators, towers and associated hardware, and their immediate environment (including the right of way) to ensure safe and reliable operation of an electrical network.\n\nInspections are often done manually by a human operator which is often dangerous, labour intensive and leaves room for human error. In some instances inspection of power lines is performed aerially from a helicopter. However, aerial inspection comes at a great financial cost and also has human error associated therewith. In addition, aerial inspection via a manned helicopter poses danger to the helicopter crew, particularly in inclement weather, as they fly fairly close to the power lines.\n\nVarious autonomous or remote controlled line-mounted power line inspection apparatuses or machines have been provided which ameriolate the problems above. However, these apparatuses or machines have limited manoeuvrability and hence also limited monitoring or inspection capability.",
  "cpc": [
    "F16M 13/02",
    "G01N 21/952",
    "H02G 1/02",
    "Y10S 901/02"
  ],
  "ipc": [
    "F16M 13/02",
    "G01N 21/952",
    "H02G 1/02",
    "G06F 19/00"
  ],
  "assignees": [
    "University of Kwazulu Natal",
    "Eskom Holdings Soc Ltd"
  ],
  "inventors": [
    "Trevor Gareth Lorimer",
    "Edward Sidney Boje"
  ],
  "filing_date": "2013-07-29",
  "publication_date": "2016-06-21",
  "grant_date": "2016-06-21",
  "priority_date": "2012-07-27",
  "application_number": "US-201314417734-A",
  "family_id": "49326810",
  "cited_by_count": 11,
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}