Drone with tool positioning system

Abstract

A tool positioning system of an unmanned aerial vehicle that is mountable relative to a power line to monitor a component of the line. The tool positioning system includes a displacement module having a first member mountable to one side of a body of the unmanned aerial vehicle, a second member movable vertically relative to the first member on the side of the body, and a tool holder pivotably coupled to the second member and couplable to a tool. The tool holder is movable relative to the body to mount the tool to or around the component.

1 . An unmanned aerial vehicle mountable relative to a power line for monitoring a component of the line, the unmanned aerial vehicle comprising:
 a body having sides and a propulsion system to lift, lower and navigate the vehicle relative to the line;   a tool positioning system including a displacement module having a first member mounted to the body, a second member movable vertically relative to the first member, and a tool holder pivotably coupled to the second member; and   a monitoring tool mountable to the tool holder to be positioned remotely from the body on one side of the sides of the body and to be movable with the tool holder relative to the body for mounting to or around the component.   
     
     
         2 . The unmanned aerial vehicle according to  claim 1 , wherein the tool holder is pivotable at a pitch angle and/or a yaw angle, relative to the second member. 
     
     
         3 . The unmanned aerial vehicle according to  claim 2 , wherein the tool holder is pivotable at the pitch angle, and the tool positioning system includes orientation means for biasing the tool holder from the pitch angle to a standard orientation of the tool holder relative to the second member. 
     
     
         4 . The unmanned aerial vehicle according to  claim 1 , wherein the tool positioning system includes a support arm extending longitudinally between a first end mounted to the one side of the body and a second end positioned away from the one side of the body, the first member of the displacement module mounted to the support arm away from the first end on the one side of the body. 
     
     
         5 . The unmanned aerial vehicle according to  claim 4 , wherein at least part of the support arm is pivotable relative to the body so as to pivot the displacement module and the tool holder relative to the body at a yaw angle. 
     
     
         6 . The unmanned aerial vehicle according to  claim 5 , wherein the tool positioning system includes means for biasing the support arm from the yaw angle to a standard orientation of the support arm. 
     
     
         7 . The unmanned aerial vehicle according to  claim 5 , wherein the tool holder is pivotable at a first yaw angle with respect to the second member about a first axis, the support arm being pivotable at a second yaw angle with respect to the body along a second axis parallel to the first axis. 
     
     
         8 . The unmanned aerial vehicle according to  claim 5 , wherein the monitoring tool is in a standard orientation of the monitoring tool when the support arm is in the standard orientation of the support arm and the tool holder is in the standard orientation of the tool holder. 
     
     
         9 . The unmanned aerial vehicle according to  claim 4 , wherein the monitoring tool is disposed beneath the support arm. 
     
     
         10 . The unmanned aerial vehicle according to  claim 4 , wherein an unobstructed working volume is defined below the support arm and on the one side of the sides of the body, the unobstructed working volume sized so that a portion of the line having the component can be received within the unobstructed working volume, the monitoring tool being movable via the tool positioning system to be mounted to or around the component in the unobstructed working volume. 
     
     
         11 . The unmanned aerial vehicle according to  claim 10 , comprising a cage mounted to the body and at least in part circumscribing the unobstructed working volume, the monitoring tool mountable to the tool holder to extend from the tool holder inside the cage to outside of the cage. 
     
     
         12 . The unmanned aerial vehicle according to  claim 1 , wherein the monitoring tool has a proximal device and a distal device positioned remotely from the proximal device, the monitoring tool being mountable to the tool holder at a location between the proximal device and the terminal device so that the proximal device is closer to the body than the distal device. 
     
     
         13 . The unmanned aerial vehicle according to  claim 1 , wherein the displacement module includes a motor attached to the first member and connected to the second member for displacing the second member. 
     
     
         14 . The unmanned aerial vehicle according to  claim 13 , wherein the motor is connected to the second member by a connecting rod arranged between the motor and the second member. 
     
     
         15 . The unmanned aerial vehicle according to  claim 13 , wherein the motor is connected to the second member by a nut mounted on a screw arranged relative to the second member. 
     
     
         16 . A method of positioning an unmanned aerial vehicle relative to a component of a power line, the method comprising:
 landing a body of the vehicle on the line with a side of the body at a distance from the component of the line; and   moving a component monitoring tool relative to the side of the body in a vertical direction along the side of the body to mount the monitoring tool to or around the component.   
     
     
         17 . The method according to  claim 16 , wherein moving the component monitoring tool includes moving the component monitoring tool such that an orientation of the component monitoring tool conforms to an orientation of the component. 
     
     
         18 . The method according to  claim 16 , wherein moving the component monitoring tool includes moving the component monitoring tool so that the monitoring tool contacts the component, thereby allowing the monitoring tool to pivot relative to the side of the body when the monitoring tool contacts the component. 
     
     
         19 . The method according to  claim 18 , wherein moving the component monitoring tool includes at least one of moving the body along the line toward the component to move the monitoring tool along the component and moving the monitoring tool in the vertical direction against the component. 
     
     
         20 . A tool positioning system of an unmanned aerial vehicle mountable relative to a power line to monitor a component of the line, the tool positioning system comprising: a displacement module having a first member mountable to one side of a body of the unmanned aerial vehicle, a second member movable vertically relative to the first member on the side of the body, and a tool holder pivotably coupled to the second member and couplable to a tool, the tool holder being movable relative to the body to mount the tool to or around the component.