Monitoring system for power lines and right-of-way using remotely piloted drone

• US 4,818,990 A
• Filed: 09/11/1987
• Issued: 04/04/1989
• Est. Priority Date: 09/11/1987
• Status: Expired due to Fees

• Current Assignee: Roosevelt A. Fernandes
• Original Assignee: Roosevelt A. Fernandes
• Inventors: Fernandes, Roosevelt A.
• Primary Examiner(s): Brigance, Gerald L.
• Assistant Examiner(s): Hjerpe, Richard
• Application Number:
  US07/095,152
• Time in Patent Office: 571 Days
• Field of Search: 340/870.07, 340/870.16, 340/870.17, 340/945, 340/946, 340/947, 340/310 R, 340/310 A, 340/870.24, 364/483, 364/492, 364/433, 364/456, 318/580-582, 342/63, 324/512, 324/519, 324/522
• US Class Current: 340/870.07
• CPC Class Codes: G01R 15/14 Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: H02G 1/02 for overhead lines or cables

Abstract

A monitoring system using a unique remotely piloted drone with dual counter rotating propellers and carrying electric field sensing, thermal infra-red imaging, video imaging, acoustic and corona discharge sensing equipment. The compact remotely piloted drone flies along a power corridor and is maintained at a fixed distance from an outer phase conductor using on board electric field detection circuitry, video/infra-red imagery and an RF/laser altimeter.

The counter rotating, twin-turbo driven configuration for the propellers mounted on coaxial vertical shafts provides a highly stable platform, unlike conventional manned helicopters presently used for routine right-of-way patrols. Dual, counter-rotating saucer-shaped auxiliary propellers provide a degree of stability far superior to a conventional helicopter, particularly in gusty winds. On board sensors and video cameras would permit electric utilities an economic approach to right-of-way monitoring, inspection of frayed conductors or deteriorated splices through infra-red sensing, detection of cracked insulators through acoustic/corona sensors, monitoring of critical, thermally limiting spans and other monitoring functions.

Claims

1. A system for monitoring physical and/or environmental features and abnormal conditions associated with or in proximity to an energized electric power conductor extending along a power corridor, said system comprising:

(a) a remotely piloted drone adapted for flight in close proximity to said power conductor and for hovering to detect abnormal conditions along said power conductor;

(b) said drone including means responsive to control signals from a source outside said drone for guidance thereof along said power corridor;

(c) at least one piece of equipment mounted upon said drone and adapted to observe and/or record data commensurate with at least one of said features and conditions in a first location along said power corridor; and

(d) a ground-based control station including means for retrieving said data at a second location, remote from said drone.

2. The monitoring system of claim 1 and further including a flight computer mounted upon said drone and containing pre-programmed data for providing said control signals.

3. The monitoring system of claim 1 wherein said ground-based control station includes signal transmitting means and said drone includes signal receiving means, said transmitting and receiving means adapted to transmit and receive, respectively, said control signals.

4. The monitoring system of claim 1 wherein said control signals comprise electromagnetic field emissions of said energized power conductor.

5. The monitoring system of claim 4 wherein said electromagnetic field emissions include emissions from a superimposed power line carrier signal.

6. The monitoring system of claim 1 wherein said control signals are generated in response to a sensed physical element extending along said power corridor.

7. The monitoring system of claim 1 and further including means mounted upon said drone for detecting the electrostatic field of said power conductor, and for generating said control signals in response to the strength of said field.

8. The monitoring system of claim 7 wherein said equipment comprises a television camera.

9. The monitoring system of claim 8 and further including signal transmitting means mounted upon said drone and adapted to transmit video signals from said television camera for reception and display on a video monitor at said second location.

10. The monitoring system of claim 7 wherein said equipment comprises an infrared camera.

11. The monitoring system of claim 10 and further including means mounted upon said drone for moving said infrared camera to control the direction of view thereof in response to control signals received from said ground-based control station.

12. The monitoring system of claim 7 wherein said drone is spheroidal in external configuration.

13. The monitoring system of claim 12 wherein said drone has an electrically conducting external surface.

14. The monitoring system of claim 13 and further including a plurality of patches of electrically conducting material fixedly bonded to said drone external surface through a relatively thin layer of dielectric material, thereby forming a plurality of parallel connected capacitors, said patches being symmetrically arranged about the vertical axis of said drone.

15. The monitoring system of claim 14 wherein said drone is so spaced from said energized power conductor that the electrostatic field associated with said conductor creates a charging current on said capacitors through the air dielectric between said conductor and said patches.

16. The monitoring system of claim 15 and further comprising an integrator including an operational amplifier having first and second inputs respectively connected to said drone external surface and to one of said patches, whereby said amplifier will provide an AC output voltage which is proportional to the electric field strength at said drone external surface.

17. The monitoring system of claim 16 wherein said integrator further includes a gain control feedback capacitor, said amplifier having a low input impedance and high gain.

18. The monitoring system of claim 17 and further including a flight control computer mounted in said drone for generating said control signals, and said output voltage is provided as an input to said computer.

19. The monitoring system of claim 18 and further including means providing a preset reference voltage and a comparator for comparing said output voltage with said reference voltage and generating a differential output commensurate therewith, said differential output being provided as said computer input.

20. The monitoring system of claim 12 wherein said drone is propelled by a pair of coaxially mounted, counter-rotating rotor structures.

21. The monitoring system of claim 20 wherein each of said rotor structures comprises a propeller and an inverted, saucer-shaped element.

22. The monitoring system of claim 21 wherein the weight of said drone, including all contents thereof, is substantially equally distributed about the central axis thereof, said rotor structures being rotatable about said central axis.

23. The monitoring system of claim 21 and further including liquid fuel container means mounted on said drone for supplying fuel to motive means for said rotors, and means for withdrawing fuel from said container means in such a way as to maintain said substantially equal distribution of weight about said central axis.

24. A method of monitoring physical and/or environmental features and conditions associated with or in proximity to an energized electric power conductor extending along a power corridor, said method comprising:

(a) mounting at least one piece of equipment adapted to perform a monitoring function upon a remotely piloted drone having motive means for flight along said power corridor;

(b) mounting altitude, directional and velocity control equipment for said drone thereupon, said control equipment being adapted for operation from a ground-based control station;

(c) causing said drone to fly in a desired path extending in general proximity to said power conductor;

(d) generating data commensurate with said monitoring function representative of at least one of said features and conditions in a first location along said power corridor; and

(e) retrieving said data at said ground-based control station.

25. The monitoring method of claim 24 wherein said monitoring equipment is of the type having a viewing direction, and further including the step of controlling the direction of view of said monitoring equipment by signals transmitted from said ground-based control station.

26. The monitoring method of claim 25 and including the further step of guiding said drone along said power corridor in response to the strength of the electrostatic field associated with said energized power conductor.

27. The monitoring method of claim 26 and including the further steps of transmitting signals from a ground-based station, receiving said signals at said drone, and using said signals to control operation of both said monitoring equipment and said control equipment.