Method and system for cleaning electric grid

A method and a device for cleaning an electric cable and/or an electric insulator connected to the electric cable. The device includes a power supply module operative to extract electric power from magnetic field surrounding an electric cable, a propulsion module for maneuvering the device at least one of along the electric cable and around the cable, and a dusting module for cleaning the electric cable, where the device is mounted on a single electric cable of an electric transmission grid and/or an electric distribution grid.

FIELD

The method and apparatus disclosed herein are related to the field of electric grid, and, more particularly but not exclusively, to electric transmission and distribution networks.

BACKGROUND

The electric grid is known to collect dust, which, when wet by rain or humidity, may affect the conductivity or resistance of electric cables and insulator. There is therefore a need to regularly clean electric cable and insulators. Cleaning, or dusting, cable and insulators is usually performed from a distance using a strong stream of water. Cleaning live grid from ground-operated machinery requires the use of distilled water, while regular water may be used by airborne machinery using, for example, a helicopter. Both methods are laborious and expensive. It would therefore be highly advantageous to have solutions devoid of the above limitations.

SUMMARY

According to one exemplary embodiment there is provided a method, a device, and a computer program including a power supply module operative to extract electric power from magnetic field surrounding an electric cable, a propulsion module for maneuvering the device at least one of along the electric cable and around the cable, and a dusting module for cleaning the electric cable, where the device is mounted on a single electric cable of an electric transmission grid and/or an electric distribution grid.

According to yet another exemplary embodiment there is provided a method, a device, and a computer program additionally including at least one of a current measuring unit, a voltage measuring unit, a temperature measuring unit, and a camera, and a controller module controllably coupled to the propulsion module, the dusting module, and one or more of a current measuring unit, a voltage measuring unit, a temperature measuring unit, and a camera, where the controller module is operative to operate at least one of the propulsion module and the dusting module responsive to measurements taken by the at least one of a current measuring unit, a voltage measuring unit, a temperature measuring unit, and a camera.

According to still another exemplary embodiment there is provided a method, a device, and a computer program where the dusting module includes a brush for brushing the cable, and/or an air blowing device for dusting the cable.

Further according to another exemplary embodiment there is provided a method, a device, and a computer program additionally including a communication module communicatively coupled to the controller module and operative to communicate a measurement including a current measurement taken by the current measuring unit, and/or a voltage measurement taken by the voltage measuring unit, and/or an image taken by the a camera, and to receive such measurement taken by another device, where the controller module may operate the propulsion module and/or the dusting module responsive to measurements taken by the current measuring unit, the voltage measuring unit, and/or the camera of another device.

Still further according to another exemplary embodiment there is provided a method, a device, and a computer program where the device additionally including a communication module configured to communicate with a remote controller, and a controller module controllably coupled to the propulsion module, the dusting module, and the communication module, where the controller module is operative to operate the propulsion module and/or the dusting module responsive to commands received from the remote controller.

Yet further according to another exemplary embodiment there is provided a method, a device, and a computer program including a power supply module operative to extract electric power from magnetic field surrounding an electric cable, a propulsion module for maneuvering the device along the electric cable, and an insulator cleaning module, where the device is mounted on a single electric cable of at least one of an electric transmission grid and an electric distribution grid.

Even further according to another exemplary embodiment there is provided a method, a device, and a computer program additionally including a current measuring unit, and/or a voltage measuring unit, and/or a camera, as well as a controller module controllably coupled to the propulsion module, the dusting module, and one or more of the current measuring unit, the voltage measuring unit, the temperature measuring unit, and the camera, where the controller module is operative to operate the propulsion module and/or the insulator cleaning module responsive to measurements taken by one or more of the current measuring unit, the voltage measuring unit, the temperature measuring unit, and the camera.

Additionally, according to another exemplary embodiment there is provided a method, a device, and a computer program where the insulator cleaning module includes a brush for brushing an insulator, and/or an air blowing module for dusting the insulator, and an articulated arm for moving the at least one of the brush and/or the air blowing module along the insulator.

According to yet another exemplary embodiment there is provided a method, a device, and a computer program additionally including a communication module operative to perform any of: communicating a measurement including any of a current measurement taken by the current measuring unit, a voltage measurement taken by the voltage measuring unit, and an image taken by the a camera, as well as receive such measurement taken by another device, where the controller module is operative to operate at least one of the propulsion module and the insulator cleaning module responsive to such measurements taken by a current measuring unit, and/or a voltage measuring unit, and/or a camera of another device.

According to still another exemplary embodiment there is provided a method, a device, and a computer program additionally including a communication module configured to communicate with a remote controller, and a controller module controllably coupled to the propulsion module, the insulator cleaning module, and the communication module, where the controller module is operative to operate the propulsion module and/or the dusting module responsive to commands received from the remote controller.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the relevant art. The materials, methods, and examples provided herein are illustrative only and not intended to be limiting. Except to the extent necessary or inherent in the processes themselves, no particular order to steps or stages of methods and processes described in this disclosure, including the figures, is intended or implied. In many cases the order of process steps may vary without changing the purpose or effect of the methods described.

DETAILED DESCRIPTION

The present embodiments comprise a method and a system providing a dusting and/or cleansing electric grid, and particularly, but not limited to, electric cables and insulators. The principles and operation of a device and method for dusting electric grid according to the several exemplary embodiments may be better understood with reference to the following drawings and accompanying description.

Before explaining at least one embodiment in detail, it is to be understood that the embodiments are not limited in its application to the details of construction and the arrangement of the components set forth in the following description or illustrated in the drawings. Other embodiments may be practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting.

In this document, an element of a drawing that is not described within the scope of the drawing and is labeled with a numeral that has been described in a previous drawing has the same use and description as in the previous drawings. Similarly, an element that is identified in the text by a numeral that does not appear in the drawing described by the text, has the same use and description as in the previous drawings where it was described.

The drawings in this document may not be to any scale. Different Figs. may use different scales and different scales can be used even within the same drawing, for example different scales for different views of the same object or different scales for the two adjacent objects.

The purpose of the embodiments is to provide a dusting device which is readily mountable on an electric cable of any voltage rating. The dusting device provides wireless backhaul, and can provide local services such as local wireless networking and/or remote sensing.

The term grid, or electric grid, refers to the electric transmission network and/or the electric distribution network. The term dusting refers to cleaning a cable or an insulator of the electric grid from dust and other undesirable and/or adverse material deposited over the cable or insulator.

Reference is now made toFIG. 1, which is a simplified illustration of a dusting device10mounted on an electric cable11, according to one exemplary embodiment.

As shown inFIG. 1, the dusting device10may include a box, or a body,12, through which the electric cable11passes. The box12is therefore constructed of two parts which may be opened, and then closed around the cable11. The electric cable11may be a part of an electric transmission grid or an electric distribution network such as maintained by a power utility to provide electricity to the public, to industrial plants, etc. The dusting device10may therefore be mounted on a live cable11. That is, when cable11is fully powered and/or carries electric voltage and/or electric current.

As shown inFIG. 1, the dusting device10may include a magnetic core13over which at least one coil is wrapped to form a winding14. The magnetic core13may be mounted around the electric cable11. The magnetic core13may be constructed from two parts, a part in each of the two parts of box12, where the two parts of the magnetic core13are closed around electric cable11when box12is closed around electric cable11.FIG. 1shows dusting device10open, with one part of the box12removed, but with magnetic core13closed around electric cable11.

The magnetic core13typically derives magnetic field from the electric current flowing in the electric cable11. Winding14typically derives electric current from the magnetic flux in the magnetic core13. Winding14may be electrically coupled to power supply module15, which, as shown inFIG. 1, typically provides electric voltage to other modules of dusting device10. It is appreciated that dusting device10may derive electric power from a single electric cable11.

As shown inFIG. 1, the dusting device10may also include a controller module16, a propulsion control module17, and a dusting module18. The dusting module18may include a brushing module19and/or an air blower module20.

Controller module16may include a processor unit, one or more memory units (e.g., random access memory (RAM), a non-volatile memory such as a Flash memory, etc.), one or more storage units (e.g. including a hard disk drive and/or a removable storage drive, etc.) as may be used to store and/or to execute a software program and associated data and to communicate with external devices.

Propulsion control module17may be coupled to one or more actuating devices such as electric motor21, which may be coupled to one or more wheels22. Wheels22may be mounted on cable11to enable propulsion control module17to move the dusting device10along cable11by controlling the electric motor21.

It is appreciated that the propulsion system of dusting device10(including, but not limited to propulsion control module17, one or more electric motors21, one or more wheels22, etc.) may be operative to move dusting device10along cable11and/or to rotate dusting device10around cable11.

It is appreciated that electric motor21represents herein any type of technology adequate to maneuver dusting device10along and/or around cable11, including, but not limited to, an AC motor, a DC motor, a stepper motor, a pneumatic pump and/or motor, a hydraulic pump and/or motor, or any other type of actuator.

Brushing module19may include one or more brushes23, typically pressed against to electric cable11by one or more arms24or a similar attachment device. Arms24are typically made from an electrically insulating material such as ceramics or plastic. Brushes23may be fixed, brushing electric cable11by the motion of dusting device10along cable11. Alternatively, brushes23may be maneuverable by one or more brush actuating device25such as an electric motor, a stepper motor, a solenoid actuator, etc. Brush actuating devices25may be coupled to brush, or brushes,23, and/or to arm, or arms,24.

Brushing module19may include a brushing controller26communicatively coupled to the one or more brush actuating devices25and/or one or more arms24. It is appreciated that brush23may be maneuvered in two or more axes so as to brush electric cable11from all sides. Alternatively, several brushes may be used.

Blower module20may include an air pump27, such as a rotational pump, a piston air pump, or any other air blowing device. Blower module20may include blower controller28communicatively coupled to the air pump27. It is appreciated that blower module20may produce pulsed air.

The dusting device10may also include a backhaul communication module29, and a remote sensing module30, and a local area communication module31.

Backhaul communication module29and local area communication module31may be coupled, each and/or both, to one or more antennas32. Remote sensing module30may be coupled to and control various sensors such as a temperature sensor (not shown), one or more cameras33, one or more microphones34, etc.

It is appreciated that a camera can be mounted on a system of axels providing three-dimensional rotation. Alternatively, a plurality, or an array, of fixed cameras can be mounted to cover a large field of view as needed.

Optionally, dusting device10may also include a global positioning service (GPS) module35and may use it to measure, monitor, and/or control the position of the dusting device10along electric cable11.

Reference is now made toFIG. 2, which is a simplified illustration of an insulator dusting device36mounted on an electric cable37connected to an insulator38, according to one exemplary embodiment.

As an option, the illustration ofFIG. 2may be viewed in the context of the details of the previous Figures. Of course, however, the illustration ofFIG. 2may be viewed in the context of any desired environment. Further, the aforementioned definitions may equally apply to the description below.

It is appreciated that only part of insulator dusting device36is shown inFIG. 2, and that insulator dusting device36may include parts and modules of dusting device10as shown and described with reference to inFIG. 1(but may not be shown inFIG. 2).

As shown inFIG. 2, insulator dusting device36may have one or more articulated arms39. Articulated arms39may include one or more brushes40and/or one or more air plowing nozzles41or any other means or devices for cleaning and/or dusting an insulator such as insulator38. Articulated arms39, brushes40and/or air blowing nozzles41may be controlled by respective insulator dusting controllers42and43.

It is appreciated that insulator dusting device36is mounted on electric cable37, derives electric power from electric cable37, and cleans insulator38that is connected to electric cable37. Therefore, insulator dusting device36is on the same electric potential as electric cable37and has no electric contact with the electric neutral line or ground. It is appreciated that insulator dusting device36derives electric power from electric cable37using a magnetic core and power supply such as magnetic core13and power supply module15as shown and described with reference toFIG. 1.

It is appreciated that insulator dusting device36may be moved along electric cable37, and/or rotated around electric cable37, using a propulsion system such as propulsion control module17, one or more electric motors21, and one or more wheels22as shown and described with reference toFIG. 1.

As shown inFIG. 2, articulated arms38may include two or more articulated parts44that may be maneuvered by actuators45. Actuators45may be operated by electrical power (e.g., electric motor46), by hydraulic power, or by pneumatic power (e.g., pump47).

Insulator dusting controllers42and43may be controllably coupled to their respective electric motors, pumps, valves48, and/or actuators to control the movement and operation of the respective articulated arms and cleaning devices (e.g., brushes and air nozzles).

Insulator dusting controllers42and43may be controllably coupled, and/or communicatively coupled, to a master controller such as controller module16of dusting device10as shown and describer with reference toFIG. 1.

It is appreciated that the articulated arms are made of insulating materials such as, but not limited to, ceramics, plastic. Operating the articulated arms and their cleaning devices (e.g., brushes) using air pressure may also be advantageous with respect to electrical insulation.

As shown inFIG. 2, insulator dusting device36may additionally include remote sensing devices such as one or more cameras49, which may be operated by a remote sensing controller50. Remote sensing controller may also be controllably coupled, and/or communicatively coupled, to a master controller such as controller module16of dusting device10as shown and describer with reference toFIG. 1. The master controller may use the remote sensing devices to operate, and/or guide, and/or coordinate the operation of the articulated arms and their respective cleaning devices.

It is appreciated that there may be a plurality of types, shapes, and sizes of insulators and that each type, shape and size of insulator may require a different cleaning method. The master controller, using the remote sensing devices, may adapt the cleaning operation to the particular type, shape and size of the insulator38.

The master controller may operate the articulated arms and their cleaning devices automatically or manually. When operating automatically, or autonomously, master controller may direct insulator dusting device36along electric cable37towards an insulator38, identify the insulator (such as type, shape and size), select a cleaning plan and operate the articulated arms and their cleaning devices accordingly.

When operating manually, master controller may communicate with a user, either using backhaul communication, such as using backhaul communication module29, or local area communication, such as using local area communication module, as shown and described with reference toFIG. 1. The user may control dusting device36remotely, for example, from the ground or from remote site. The user may control dusting device36by using a camera49.

Dusting device36may additionally but optionally include a current sensor51and/or a voltage sensor52. Current sensor51may include a coil53, such as a Rogowski coil, mounted across or around electric cable37. Voltage sensor52may include an electric field probe54. The electric field probe may be, for example, in the form of a coil mounted along electric cable37.

It is appreciated that the process of cleaning and/or dusting cable37and/or insulator38can be regulated and/or controlled according to a measurement of the current flowing via cable37, or voltage measured for cable37, resistance of any part of cable37, an image of the cable (e.g., taken by a camera), light reflectance from the cable, as well as combinations thereof.

Particularly, but not exclusively, the process of cleaning and/or dusting cable37and/or insulator38may be controlled to lower or eliminate irregularities associated with current and/or voltage measured for cable37or their combinations, such as spikes and surges. It is appreciated that such current and/or voltage measurements may be executed in real time while cleaning and/or dusting cable37and/or insulator38, or intermittently.

The analysis of the current and voltage measurements (or any other measurement as described above) as well as the control of the operation of dusting device36may be executed by a controller and/or processor within dusting device36, such as controller module16shown and described with reference toFIG. 1. Alternatively, the analysis of the current and voltage measurements as well as the control of the operation of dusting device36may be executed by a remote controller and/or processor being in communication with dusting device36. Alternatively, the analysis of the current and voltage measurements as well as the control of the operation of dusting device36may be executed by a user being in communication with dusting device36. Such user may be located locally, for example having line-of-sight with dusting device36, or remotely such as in a central control room.

Reference is now made toFIG. 3, which is a simplified illustration of a dual-sided insulator dusting device55, according to one exemplary embodiment. As an option, the illustration ofFIG. 3may be viewed in the context of the details of the previous Figures. Of course, however, the illustration ofFIG. 3may be viewed in the context of any desired environment. Further, the aforementioned definitions may equally apply to the description below.

Dual-sided insulator dusting device55is similar to dusting device36ofFIG. 2except that it includes two sets of arms39, brushes40and/or air blowing nozzles41, as may be necessary to dust or clean insulators in both sides of a cable37. It is appreciated that dual-sided insulator dusting device55may include parts and modules of dusting device10as shown and described with reference to inFIG. 1, and/or parts and modules of dusting device36as shown and described with reference to inFIG. 2(such parts and modules but may not be shown inFIG. 3).

Reference is now made toFIG. 4, which is a simplified illustration of a part of an electric transmission or distribution network56with two dusting devices57, according to one exemplary embodiment. As an option, the illustration ofFIG. 4may be viewed in the context of the details of the previous Figures. Of course, however, the illustration ofFIG. 4may be viewed in the context of any desired environment. Further, the aforementioned definitions may equally apply to the description below.

Dusting devices57may be any type of dusting device such as dusting device10as shown and described with reference toFIG. 1, and/or insulator dusting device36as shown and described with reference toFIG. 2, and or dual-sided dusting device55as shown and described with reference toFIG. 3.

The cleaning and/or dusting operation of any of the plurality of dusting devices57mounted on different cable segments of electric transmission or distribution network56may be controlled and/or regulated based on current and/or voltage measurements taken by each of the plurality of dusting devices57as described with reference toFIG. 3. Additionally or alternatively, the cleaning and/or dusting operation of any of the plurality of dusting devices57may be controlled and/or regulated based on comparisons between current and/or voltage measurements of different dusting devices57.

For example, the cleaning and/or dusting operation of a cable segment or an insulator may be controlled to lower the difference between current measurements of successive (close segments) or parallel (different electric phases) dusting devices57.

It is appreciated that successive or parallel current and/or voltage measurements may be provided by any type of current and/or voltage measurements devices mounted over electric transmission or distribution network56.

For example, any two dusting devices57may communicate between themselves. For example, dusting devices57may use wireless communication, such as Wi-Fi, or ZigBee, or cellular communication, or any other wireless communication technology, for example, by using a communication module such as Backhaul communication module29and local area communication module31shown and described with reference to dusting device10andFIG. 1.

For example, any two dusting devices57may communicate current and/or voltage measurements between themselves (e.g.,58). Such two or more dusting devices57may control, and/or regulate their respective cleaning and/or dusting operation of a cable segment or an insulator by comparing their respective current and/or voltage measurements. For example, to lower the difference between such measurements and/or to eliminate spikes and surges. For example, two or more dusting devices57may compare such measurements (current, voltage, spikes, surges, etc.) to determine which cable and/or insulator causes a problem and requires dusting and/or cleaning.

Reference is now made toFIG. 5, which is a simplified illustration of a plurality of dusting devices59distributed over various cable segments of electric transmission or distribution network60, according to one exemplary embodiment. As an option, the illustration ofFIG. 5may be viewed in the context of the details of the previous Figures. Of course, however, the illustration ofFIG. 5may be viewed in the context of any desired environment. Further, the aforementioned definitions may equally apply to the description below.

Dusting devices59may include one or more of any type of dusting devices such as dusting device10, insulator dusting device36, dual-sided insulator dusting device55, shown and described with reference toFIGS. 1, 2, 3 and 4, and/or other types of cable, and/or insulator cleaning devices.

As shown inFIG. 5, electric transmission or distribution network60may include a plurality of segments of electric cable11and dusting devices59may be mounted on any segment of electric cable11, including successive segments (carrying the same phase) and parallel segments (carrying a different phase).

As shown inFIG. 5, dusting devices59may communicate between themselves using, for example, backhaul communication module29shown and described with reference toFIG. 1. Dusting devices59may form, for example, a mesh network61.

As shown inFIG. 5, dusting devices59may use their backhaul communication module29and/or mesh network61to communicate with an area controller62. Area controller62may communicate with a central controller or server63, for example, using a wide area wireless communication network (e.g. WAN), such as, for example, cellular network64. It is appreciated that, as an option, dusting devices59may also communicate over WAN directly with the central controller or server63.

As shown inFIG. 5, dusting devices59may also use their local area communication module31shown and described with reference toFIG. 1to communicate with communication terminals65such as smartphone within the range of the local area network66.

As dusting devices59move about their respective cable segments the mesh network61may change its topology. It is appreciated that such changes of the topology of the mesh network61may result in one or more of the dusting devices59being disconnected from the mesh network61, and consequently from the area controller62and/or central controller63. It also appreciated that when a first dusting device59is disconnected it may also disconnect other dusting devices59who depend on the first dusting device59for connectivity with the mesh network61. It is also appreciated that a dusting device59may fail and disconnect a part of the mesh network61(e.g., one or more dusting devices59) from the rest of the mesh network61.

When a plurality of dusting devices59are mounted in a particular part of the electric transmission or distribution network60they arrange themselves in at least one particular topology (structure) of mesh network61in which all the dusting devices59are within the range of the mesh network61. This particular topology or structure of mesh network61is recorded by the respective dusting devices59as a standard or default topology. The dusting devices59record their location in their respective segment of the electric cable11, for example, by recording their respective GPS data in a non-volatile memory.

The process of organizing and recording one or more standard or default topologies or structures of the mesh network61and the respective positions of each of the dusting devices59may be executed under the control or supervision of the local area controller62.

It is appreciated that several such standard or default topologies or structures of the mesh network61are created with the goal that no single failed dusting device59may disconnect a part of the mesh network61. For example, if a particular dusting device59has failed there is a standard or default topologies or structures of the mesh network61in which all other dusting device59may communicate.

A dusting device59, when disconnected from the network, may position itself automatically in its respective position in such standard or default topologies or structures of the mesh network61. Particularly, when the dusting device59senses that it is disconnected from the mesh network61it automatically returns to the default location, for example as indicated by the GPS data recorded in the non-volatile memory as described above.

The plurality of standard or default topologies or structures may be ordered and a dusting device59, when disconnected from the network, may scan the standard or default topologies or structures according to their order.

To resolve situation where one or more dusting device59are disconnected a part of the plurality of the dusting devices59may select a particular standard topology and the rest of the dusting devices59may scan the standard topologies until all the operative dusting devices59are in communication.

For example, the area controller62may select a standard topology according to the identification of the disconnected one or more dusting devices59and instruct the connected dusting devices59to assume this standard topology and wait for the disconnected one or more dusting devices59to connect. This process may repeat until all the disconnected one or more dusting devices59connect to the mesh network61, or until one or more dusting devices59are determined faulty.

Alternatively, to reduce the risk of losing connectivity with a large part of the dusting devices59, the area controller62may operate a single dusting device59at a time. The area controller62may instruct all the other dusting devices59to position themselves in their default locations, or in a particular standard topology selected to enable the operative (dusting) dusting device59to travel along its cable segment, for example, without interruption to is connectivity to the mesh network61.