Patent ID: 12199414

The drawing figures do not limit the present teachings to the specific embodiments disclosed and described herein. The drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present teachings.

DETAILED DESCRIPTION

The following detailed description references the accompanying drawings that illustrate specific embodiments in which the present teachings can be practiced. The embodiments are intended to describe aspects of the present teachings in sufficient detail to enable those skilled in the art to practice the present teachings. Other embodiments can be utilized, and changes can be made without departing from the scope of the present teachings. The following detailed description is, therefore, not to be taken in a limiting sense. The scope of the present teachings is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled.

In this description, references to “one embodiment,” “an embodiment,” or “embodiments” mean that the feature or features being referred to are included in at least one embodiment of the technology. Separate references to “one embodiment,” “an embodiment,” or “embodiments” in this description do not necessarily refer to the same embodiment and are also not mutually exclusive unless so stated and/or except as will be readily apparent to those skilled in the art from the description. For example, a feature, structure, act, etc. described in one embodiment may also be included in other embodiments but is not necessarily included. Thus, the technology can include a variety of combinations and/or integrations of the embodiments described herein.

Exemplary Aerial Device

FIG.1depicts an aerial device100of some embodiments. The aerial device100comprises a utility vehicle112, a boom assembly114, and a remote assembly system300. The boom assembly114comprises a boom118having a boom proximal end120and a boom distal end122. In some embodiments, the boom118is one of a telescoping boom118or an articulating boom118. The boom assembly114may be attached to the utility vehicle112at the boom proximal end120. The remote assembly system300may be secured to the boom distal end122, such that the remote assembly system300is supported by the boom assembly114. In some embodiments, and as described in greater detail below, the remote assembly system300may comprise at least a robot unit adapted for performing telecommunications repair, power line repair, general repair work, or other actions that may be performed by a robot. For example, the robot unit may comprise one or more utility tools for performing actions such as manipulating wire ties. The robot unit may also comprise utility tools for sawing, cutting, screwing, wiring, or other actions associated with repair work. In some embodiments, the boom118is used to position the remote assembly system300in a remote location, such as, for example adjacent to an energized power line.

As described herein, the robot unit may be controlled remotely by an operator124to perform actions, such as power line repair work. For example, the robot unit may be used for insulator removal and installation as described in embodiments herein. Through such remote control, the operator124is removed from any potentially dangerous situations.

As shown, operator124is operating hand controls126. Hand controls126may be any controller that may send a signal to aerial device100to control movement of boom assembly114, utility vehicle112, and remote assembly system300. Hand controls126may comprise any switches, buttons, knobs, and sensors for detecting movement for controlling any displays associated with head-mounted display128and actuators associated with aerial device100, robot units302,402(FIGS.3-4) and high-capacity manipulator arm390and jib404(FIGS.3-4).

To provide the operator124with visual, sensory, and other information, the robot unit may further comprise a sensory capturing system comprising at least a camera and a three-dimensional depth camera. Video information may be provided to the operator through a virtual reality (“VR”) headset and the operator124may issue commands through joysticks or other controllers to instruct the robot unit to perform an action. To aid the operator124and/or the robot unit in performing actions efficiently and correctly, three-dimensional depth information may be captured by the three-dimensional depth camera for generating a three-dimensional representation of the field of view at a computer. Accordingly, the computer can receive instructions, compare the instructions to the three-dimensional representation, and cause the robot unit to perform an action based on the instructions and the three-dimensional representation. To further aid in providing a realistic and immersive experience to the operator124, the robot unit may comprise a six degree-of-freedom (“DOF”) camera mount for mimicking or replicating the movement of the operator. Accordingly, in addition to movement in the x, y, and z planes, the robot unit can further control pitch, yaw, and roll of the camera mount. However, it will be appreciated that particular embodiments and applications of the present teachings may vary, including any of the examples provided herein. For example, the present teachings may be utilized in a variety of applications, including but not limited to military applications, construction applications, rescue applications, health and safety applications or other applications that robotics may be utilized. Accordingly, it will be appreciated that specific embodiments or details provided herein are intended to be illustrative, rather than limiting.

Exemplary System Architecture

FIG.2depicts an exemplary block diagram200related to embodiments of the present teachings. In some embodiments, the remote assembly system300comprises various assemblies, sub-assemblies, parts, or components for capturing sensory information and/or for performing actions, such as repair work in a telecommunication setting. The remote assembly system300may comprise various circuitry, parts, or other components for capturing sensory information, including video, three-dimensional depth information, audio, and other sensory data. Further, the remote assembly system300may comprise a manually controlled or autonomous robot unit that may be positioned at the end of the boom assembly114for interacting with a work site to perform one or more tasks. For example, as described above, in many real-life scenarios, tasks to be performed may not be discovered until reaching the job site, and accordingly, the robot unit may comprise a variety of tools, features, or functions to respond to a variety of different tasks. Additionally, as described in greater detail below, the remote robot assembly may further comprise one or more parts, components, or features for providing an operator with sensory information, providing operator124with additional information about the job site to improve efficiency, efficacy, and/or safety of both the remote assembly system300and operator124.

As depicted in the block diagram200, a remote assembly202comprises at least a remote capture device210, a computer260, and a control system280. In some embodiments, and as described in greater detail herein, the remote capture device210may be a device configured and adapted for the capturing of sensory information and may be positioned on a robot unit for the capturing of sensory information that may be utilized by computer260, to present information to an operator via control system280, among other purposes.FIG.2depicts exemplary sensors, cameras, and other apparatuses that may be utilized by remote capture device210for the capturing of sensory information. As described in greater detail below, remote capture device210may be mounted or positioned on a selectively movable mount or portion of a robot unit. For example, the robot unit may be a robot unit positioned at the end of a boom assembly for aerial applications. However, remote capture device210may also be used with a robot unit that is not attached on a boom assembly, and for example, may be utilized with a robot unit for ground application or attached to a mechanical arm or an aerial drone. Accordingly, via the robot unit, sensory information may be captured by remote capture device210.

Through selective inputs, including both manually inputted instructions and/or automated instructions, remote capture device210may capture video, still images, three-dimensional depth information, audio, electrical conductivity, voltage, among other information that may be captured by a sensor or recording device. For example, remote capture device210may comprise at least one camera212for the capturing of video or still images (collectively, “video”). The at least one camera212may be a camera positioned on remote capture device210for the capturing of video within a selected field of view. The resolution of the video captured by camera212may vary, but in some embodiments, camera212may be a camera configured for capturing in at least 720p resolution but may capture in higher resolution including but not limited to 1080p, 2K, 3K, 4K, or 8K resolution. However, it will be appreciated that the camera212may be any currently known or yet to be discovered camera for capturing video. Video captured from camera212may be stored locally at remote capture device210at a local memory214. The storing of video at local memory214may aid in providing a failsafe or backup storage of captured video in the event of a transmission or upload failure. Further, the storing of video at local memory214may aid in situations of poor wireless connection or if a direct line becomes loose or interrupted, preventing the immediate transmission of captured video. Optionally or additionally, video captured from camera212may be transmitted to computer260for processing, analyzing, storage, and/or for later transmitting to control system280. In further embodiments, video captured from camera212may be directly transmitted to control system280for processing.

In some embodiments, remote capture device210may further comprise at least one three-dimensional camera216or other device configured for capturing three-dimensional depth information. As described in greater detail below, the three-dimensional depth camera216may be utilized for capturing three-dimensional depth information within a field of view for creating a point cloud, 3-D model, or other digital representation of an object or area scanned or viewed by the three-dimensional camera216. Three-dimensional camera216may be operated in conjunction with, or independent from camera212or other components or parts of remote assembly202and/or remote capture device210. As described in greater detail below, in response to instructions or an input, three-dimensional camera216may begin capturing three-dimensional depth information about an object or area within a field of view. Like the captured video with respect to camera212, the three-dimensional depth information captured by three-dimensional camera216may be saved locally at memory214. In some embodiments, remote capture device210may comprise a separate memory214for video captured by camera212and a separate memory214for three-dimensional information captured by three-dimensional camera216. As described in greater detail below, remote capture device210may comprise a microphone218and/or at least one sensor220for capturing additional sensory information. Accordingly, in some embodiments, a separate and distinct memory214may be used for each sensory capture device (i.e., camera212, three-dimensional camera216, microphone218, and/or sensor220). In further embodiments, remote capture device210may comprise a single memory214for the storing of all captured sensory information. As described above and in further embodiments, three-dimensional information may be directly sent to computer260in addition to or instead of storing locally at memory214.

In addition to capturing video and/or three-dimensional information, it may also be advantageous for remote capture device210to capture additional sensory information that may be presented to an operator or processed by computer260. For example, in certain scenarios it may be advantageous for remote capture device210to capture audio via at least one microphone218. Continuing with the running example, a remote assembly202for use with telecommunications repair may utilize audio information for diagnostic or safety purposes. For example, audio information may capture the sounds of the job site and the audio information may be processed to determine if a job site is safe. Accordingly, in some embodiments, remote capture device210may comprise at least one microphone218for the capturing of audio information. Similar to the video and three-dimensional information as described above, captured audio information may be stored locally at a memory214and/or transmitted to a computer260and/or control system280.

Similar to audio information, remote capture device210may further comprise one or more sensors220for the capturing of additional sensory information, metrics, or data. For example, continuing with the running example, the remote capture device210may be used with a remote assembly202positioned at the end of boom assembly114for telecommunication or power line work. In such a work application, the remote assembly202may be working on or near live power lines or other conductive lines transferring electricity. Accordingly, in some embodiments, remote capture device210may comprise at least one sensor220configured as an electricity sensor for determining whether a cable or power line has electricity running through it. However, it will be appreciated that remote capture device210may comprise additional sensors220configured and adapted for providing remote capture device and/or remote assembly202with additional information. By way of a non-limiting example, sensor220may comprise any of the following sensors: a gyroscope, an accelerometer, a thermometer, a barometer, a light emitter, a voltage detector, a weight-detection sensor, QR reader, magnetometers, pose sensor, rotary encoder, among other sensors that may be utilized in various applications of remote assembly202.

For example, in some embodiments, at least one sensor220may be adapted and configured as a sensor for estimating the weight of an object. As described in greater detail below with respect toFIG.3, in some embodiments, comprises a remote assembly comprising a robot unit to perform fine tuning or other dexterous actions and a heavy load bearing utility arm for holding and moving heavy loads. To aid an operator in determining whether the robot unit for fine tuning work can safely hold or manipulate an object, at least one sensor220may be a weight estimator. For example, the weight estimator may utilize point cloud weight estimation to estimate the weight of an object. The weight estimator may capture various images of an object for the generation of a point cloud based on the object. By way of non-limiting example, the weight estimator may capture an image of a powerline transformer. The generated point cloud image may determine the transformer comprises a diameter of 13.4″ and a height of 15.8.″ Based on this information, a determination may be made that the transformer comprises a weight of 472.9 Lbs. This information may be presented to computer260or an operator in the manner described below, and the computer260and/or operator124may make a determination as to whether the robot unit or the heavy load bearing utility arm can safely hold and move an object.

Further, in some embodiments, at least one sensor220may be a quick response (“QR”) reader for reading QR codes. For example, in some applications, remote assembly202may be applied in a scenario in which objects or assets may be applied with or comprise a QR code. Through utilization of a QR reader, information about the object or asset may be quickly ascertained and provided to computer260and/or an operator. Non-limiting examples of information that may be obtained through a QR reader may be the BIM specifications of an object, such as weight, size, lifting points, ratings, etc. It should be understood however, that any information about the object or asset may be ascertained through QR reading.

It should be understood that in some embodiments, remote assembly202may comprise a plurality of remote capture devices210. Further, each of the remote capture devices210in the plurality of remote capture devices210may comprise varying components (I.e., camera212, three-dimensional camera216, sensor220, etc.). Even further, each remote capture device210in the plurality of remote capture devices210may comprise uniform components. For example, as described above, remote capture device210may be used with a boom-mounted robot unit comprising a camera mount and at least one utility arm. A remote capture device210comprising camera212, three-dimensional camera216, and microphone218may be paired or positioned on the camera mount. Simultaneously, a second remote capture device210comprising a sensor220for detecting an electric voltage and a microphone218may be paired or incorporated into the utility arm.

In some embodiments, the remote assembly202further comprises at least one digital Hub222. The digital Hub222may receive the captured sensory information from remote capture device210and convert the captured sensory information into a format suitable for transmitting to computer260and/or control system280. In some embodiments, the digital Hub222is a USB Hub, such as, for example, a USB 3.0. In further embodiments, sensory information may be captured using Ethernet cameras or Ethernet coupled capture devices. Accordingly, in some embodiments, digital Hub222may be replaced, substituted, or used in conjunction with an ethernet switch. It should be understood that sensory information may be captured in a variety of different formats. Accordingly, remote assembly202may utilize any hardware or software for receiving, analyzing, and/or transmitting sensory information.

As further depicted inFIG.2, remote assembly202may further comprise a controller224. In some embodiments, controller224may be a processor or other circuitry or computer hardware for receiving commands or instructions from control system280and/or computer260and for relaying or providing commands to remote capture device210and/or motion controls230. Accordingly, in some embodiments, instructions, or commands from controller224may be sent to remote capture device210. For example, instructions sent from controller224to remote capture device210may include instructions to begin recording video via camera212. However, it will be appreciated that instructions sent from controller224may cause any of the components of remote capture device210to begin capturing sensory information, including but not limited to three-dimensional information, audio information, or other sensory information captured by any of the sensors220of remote capture device210. Additionally, controller224may be used to send instructions to cause remote assembly202, remote capture device210, and/or motion controls230to perform other actions corresponding to the instructions. For example, instructions from controller224may instruct remote capture device210to store captured sensory information on memory214. Additionally, instructions from controller224may be sent to motion controls230to instruct remote assembly202to perform a movement. Further, controller224may be in communication with transceiver244for communicating with computer260and/or control system280to send sensory information or other data or information to computer260and/or control system280. Similarly, controller224may further be configured for receiving instructions, commands, or other information from computer260and/or control system280. It should be understood that in further embodiments, controller224is not required to be directly coupled or incorporated into remote assembly202. For example, remote assembly202may be incorporated into or be a component of a computer260and/or control system280. Accordingly, in some embodiments, controller224may be incorporated into or directly paired with computer260and/or control system280. In such embodiments, instructions, commands, or other communications may be sent from controller224to remote assembly202. Remote assembly202may comprise computer hardware capable of receiving the transmitted instructions, commands, or communications from controller224. For example, in some embodiments, it may be advantageous for controller224to be incorporated into a high-powered computing system that can transmit information to remote assembly202.

As further depicted in the block diagram ofFIG.2and in some embodiments, remote assembly202may further comprise motion controls230. Motion controls230may be configured and adapted for controlling the movement of remote assembly202, including any utility arms or camera mounts as described in greater detail below. In some embodiments, remote assembly202may comprise a 6 DOF robot unit configured with utility arms and/or camera mounts that can move with 6 DOF. Accordingly, motion controls230may be configured to provide instructions or commands to remote assembly202to move in 6 DOF. In some embodiments, motion controls may comprise x-axis control232, y-axis control234, z-axis control236, pitch control238, yaw control240, and/or roll control242for moving remote assembly202with 6 DOF. It will be appreciated however, that remote assembly202may comprise varying designs, and in some embodiments, may move in fewer than 6 DOF. Accordingly, in further embodiments, motion controls230may comprise controls configured and adapted for moving remote assembly202in an appropriate number of planes.

As described above, motion controls230may be in communication with controller224. Instructions or commands from controller224may be sent to motion controls230. Upon receipt of the instructions, the corresponding controls232,234,236,238,240, and/or242may be instructed to cause movement of the remote assembly202based on the received instructions. As described above, one or more arms or limbs of remote assembly202may be configured to move with 6 DOF. Based on the instructions, the corresponding motion controls230may cause movement of the remote assembly202to correspond to the instructions.

As described above, remote assembly202may be communicatively coupled to computer260. In some embodiments, computer260may be directly coupled to remote assembly202, such that computer260and remote assembly202are a combined system. For example, computer260may be directly installed into a frame or body of remote assembly202. Accordingly, remote assembly202and computer260may be in direct communication through cables or other direct methods. In further embodiments, computer260may be located external to remote assembly202. When located externally, remote assembly202and computer260may nevertheless be communicatively coupled. For example, in some embodiments, remote assembly202and computer260may be coupled through a physical connection such as an Ethernet cable or USB cable. In further embodiments, remote assembly202and computer260may be coupled through a wireless connection, such as Wi-Fi, BLUETOOTH®, cellular connection, or another wireless connection. In embodiments in which computer260and remote assembly202are connected through a wireless connection, transceiver244may communicate with another transceiver250coupled or otherwise in communication with computer260.

In some embodiments, computer260may receive and process sensory information captured by remote capture device210of remote assembly202. Accordingly, computer260may comprise at least a processor262for executing commands, which may include instructions (e.g., computer-executable instructions) for processing, analyzing, or utilizing captured sensory information. For example, as described in greater detail below, computer260may utilize captured three-dimensional information to generate a point-cloud, three-dimensional model, or other digital representation of an object or area captured by remote capture device210. In further embodiments, computer260may be in communication with one or more databases or data storages. For example, computer260may be in communication with a database comprising information directed to product or object information in a telecommunication or powerline setting. This may be particularly beneficial for obtaining information about particular objects or products that may be encountered in the application of various embodiments. For example, described above, remote assembly202may comprise a weight estimator utilizing a point cloud for estimating weight of an object. Computer260may utilize the data obtained by weight estimator in making an estimation about the weight of the object. In further embodiments and as described above, remote assembly202may comprise a QR reader for identifying assets or objects. Once a QR code is scanned, computer260may access the storage or database to identify information about the asset or object.

In some embodiments, control system280may be an interface, apparatus, or system providing a user with an interactive medium for interacting with computer260and/or remote assembly202. For example, in some embodiments, control system280may comprise at least a processor282, at least one controller284, at least one display288, at least one sensor290, and at least one transceiver292. As described in greater detail below, some embodiments of the present teachings provide for a method of controlling remote assembly202from a remote location. Continuing with the running example, telecommunications repair or power line repair sometimes occurs during or immediately after a severe weather storm. This type of scenario can be wrought with dangers such as exposed and live power lines, high winds, lightning, and other dangers that pose a risk to human workers. Accordingly, it may be advantageous for an operator of remote assembly202to control remote assembly202in a safe location, such as in a work truck or building away from the job site. Accordingly, control system280may comprise at least one interfacing controller284, providing an interactive means for a user to input commands or instructions for controlling or manipulating remote assembly202. Controller284may be any interface for inputting commands or instructions that can be transmitted and processed by a computer or other hardware. By way of non-limiting example, controller284may comprise hand-held motion control controllers. As described in greater detail below, the motion control controllers may be beneficial for an operator to perform specific movements or actions that can be captured and relayed to remote assembly202to perform. Through the use of motion-control controllers, an operator may be provided with a sensory effect similar to being at the job site and performing the actions themselves. However, controller284is not limited to motion controls and instead, controller284may be any interface for an operator to input instructions or commands for remote assembly202. For example, in further embodiments, controller284may be a handheld controller, similar to that of a video game controller comprising thumb sticks, buttons, triggers, and/or other interfacing inputs. In further embodiments, controller284may comprise a joystick and button design. In even further embodiments, controller284may be a mouse and keyboard. In even further embodiments, controller284may be configured as a glove or interactive model of a hand, allowing an operator to perform native hand manipulations which may be captured and transmitted to remote assembly202. In even further embodiments, controller284may comprise a camera component or other motion capture component for capturing the movement of an operator. For example, in addition to, or in place of a physical controller handled by operator124, a camera component may capture the movement of operator124. The captured movement may be transmitted to computer260for translation or mapping movement of remote assembly202. Optionally, or additionally, motion capture aids, such as motion capture dots, may also be used for capturing movement of operator124. In further embodiments, operator inputs may further be captured through AC electromagnetic tracking. In even further embodiments, operator inputs may further be captured through an active force feedback imitative control. In even further embodiments, operator inputs may be further captured through a passive force feedback imitative control. It will be appreciated that the examples provided herein are intended to be illustrative, rather than limiting, and that controller284may be any apparatus or method of receiving instructions or an input from an operator or computer for autonomous control.

In some embodiments, control system280may further comprise a power medium286for powering one or more parts or components of control system, including for example controller284, display288, or the at least one sensor290, or any combination thereof. In some embodiments, a single power medium may power all parts or components of control system280. In further embodiments, individual parts, or components of control system280may comprise a separate and distinct power medium286. For example, a first power medium286may be used for powering controller284and a second power medium286may be used for powering display288. Power medium286may be any conventionally known power source for providing power to an electrical device, including but not limited to an internal power source such as a battery, or an external battery source such as an electrical outlet.

As further depicted inFIG.2, control system280may further comprise at least one display288. In some embodiments, display288may be a monitor, touchscreen, television screen, or any other display. In some embodiments, at least a portion of the captured sensory information from remote capture device210may be displayed on display288for an operator to view. For example, captured video may be displayed on display288. Providing sensory information on display288may provide an operator with a more immersive feel when remotely operating remote assembly202. Through a real-time video feed, an operator may experience the job site as if operator124is physically present, even if operator124is in a safe location miles away. Additionally, providing sensory information to an operator via display288may aid operator124in inputting instructions or commands via controller284.

In some embodiments, control system280may further comprise at least one sensor290, which may provide additional sensory affect to operator124and/or capture additional inputs that may be used by computer260to provide instructions to remote assembly202. In some embodiments, one or more sensors may be combined with controller284and/or one or more sensors may be combined with display288. For example, in some embodiments, sensor290may be at least one speaker or sound emitting device to provide operator124with audio information captured from remote capture device210or pre-recorded or pre-rendered audio. In further embodiments, the at least one sensor290may be one of an inclinometer, an accelerometer, a gyroscope, a light sensor, magnetometers, pose sensors, rotary encoders, or any other type of sensor290suitable to detect the viewing angle of the user or the movement, position, or angle of the operator's body.

In some embodiments, and as described in greater detail below, an operator may utilize controller284, display288, and the at least one sensor290to provide instructions to remote assembly202, which may be analyzed and translated into instructions to cause remote assembly202to move or perform an action. As also described in greater detail below, an operator may input instructions or commands through control system280. In some embodiments, inputs may be inputted or captured by a combination of controller284and display288. For example, display288may be coupled to a head-mounted unit as described in greater detail below. An operator may move their head or torso with sensor290capturing the movement and/or viewing angle of operator124. The captured movement data or viewing angle may be sent to computer260via transceiver292, and computer260may take the captured movement data or viewing angle and translate into instructions for causing remote assembly202to move and mimic or replicate the operator's movement and match the viewing angle of the operator.

Exemplary Hardware

FIG.3is an exemplary embodiment of a remote assembly system300. In some embodiments, the remote assembly system300may comprise various assemblies, sub-assemblies, parts, or components, including but not limited to a robot unit302affixed at the end of a boom assembly114. Further, the remote assembly system300may correspond to the remote assembly202as described above with respect toFIG.2and may comprise any and all of the components or parts as described above. In some embodiments, robot unit302may be configured and adapted to receive instructions from a computer or operator to perform a corresponding movement or action. In some embodiments, robot unit302may be a fully manually controlled robot, wherein the robot unit302will not perform a movement or action absent an instruction provided from an operator. In further embodiments, robot unit302may be a fully automated robot, wherein the robot unit302performs actions or movements based on pre-programmed instructions for automation. In even further embodiments, robot unit302may be a robot configured to respond to both manually inputted instructions and automated programming. The various movements or actions performed by robot unit302and described herein may be performed based on manually provided instructions and/or automated programming. Accordingly, embodiments of the present technology are anticipated to support fully autonomous control, fully manual control, or a hybrid (semi-autonomous) control wherein operator124is interacting with and providing manually provided inputs along with automated inputs to control remote assembly system300.

As described above and as illustrated inFIG.3, in some embodiments remote assembly system300may be positioned at the distal end122of boom assembly114. As used herein, remote assembly system300and system300may be used interchangeably. As depicted, in some embodiments, distal end122of boom assembly114may comprise a pivot joint130comprising a motor132. In some embodiments, pivot joint130may be used to change an angle or position of remote assembly system300. In further embodiments, pivot joint130may be paired with a sensor, such as an inclinometer paired with a rotary encoder for closed-loop feedback, to aid in maintaining a leveled position of remote assembly system300. However, pivot joint130may comprise any sensor, including but not limited to magnetometers, pose sensors, rotary encoders, among other sensors. As further depicted inFIG.3, pivot joint130may further act as an attachment point between remote assembly system300and boom assembly114. For example, base150may be coupled to pivot joint130. Base150may be adapted and configured for receiving and coupling remote assembly system300. Accordingly, through such coupling, remote assembly system300may be secured and attached to boom assembly114. In some embodiments, base150may comprise a generally planar design for accepting and securing one or more assemblies, sub-assemblies, parts, or components of remote assembly system300. Further, the size and shape of base150may vary, and may be dependent on the design of remote assembly system300. Further, in some embodiments, base150may further comprise a motorized turntable152. Motorized turntable152may be a power motor train system for rotating base150. The rotation of base150may be advantageous for positioning remote assembly system300during use. In some embodiments, the various assemblies, sub-assemblies, parts, and/or components of system300may be adapted and configured to be selectively and removably attached to boom assembly114. For example, utility vehicle112may be driven to a job location with a bare boom assembly114, with the various assemblies, sub-assemblies, parts, and/or components of system300stored in or on utility vehicle112. Once at the job site, system300may be assembled for use. This may be advantageous for protecting aspects of system300during transit.

In some embodiments, remote assembly system300may generally comprise a robot unit302. Robot unit302may be a controllable robotics unit that can perform a range of movements and actions, such as performing repair work in a telecommunications setting. In some embodiments, and as described in greater detail below, robot unit302may be a 6 DOF robotics assembly, configured and adapted for mimicking the movement of an operator utilizing a VR controller. Particularly, through a 6-DOF configuration, robot unit302may substantially mimic the torso, neck, and arm movements of operator124. Through such movement, robot unit302may perform a greater range of movements and/or provide a more immersive experience to an operator than pre-existing systems.

In some embodiments, robot unit302may comprise a central hub304. Central hub304may be a central housing or base, which may house a processor, a power source, circuitry, a wireless communication means among other electronics for robot unit302, including the components described above with respect toFIG.2. Additionally, central hub304may act as a coupling or attachment member, securing robot unit302to base150. Even further, central hub304may also act as a receiving point for one or more parts or components of robot unit302. For example, and as described below, robot unit302may comprise at least one utility arm and at least one camera mount. Accordingly, central hub304may receive and couple with the at least one utility arm and the at least one camera arm.

To collect sensory information, including but not limited to video and three-dimensional depth information, robot unit302may comprise at least one camera mount310. Camera mount310may be a 6 DOF, selectively controllable robotic arm, that may couple to central hub304. As described in greater detail below, robot unit302may receive movement instructions or commands from computer260that may cause camera mount310to move or change position. For example, camera mount310may correspond to a head mount or other capture apparatus to capture the viewing angle of an operator. Instructions or commands may be communicated to robot unit302causing camera mount310to move in a corresponding manner to match the viewing angle of operator124. To enhance operator124experience, camera mount310may comprise a plurality of camera mount segments312that may be separated by motorized pivotable joints314. The number and size of camera mount segments and pivotable joints314may vary depending on the embodiments and application of robot unit302. Generally, in response to an instruction or commands, one or more of the pivotable joints314may activate to rotate or move camera mount310. In some embodiments, the pivotable joints314may be used to move camera mount310in the X-axis, Y-axis, Z-axis as well as control the roll, pitch, and yaw of the camera mount310. Accordingly, through movement in the 6 DOF, camera mount310may mimic or replicate the viewing angle of operator124. As further depicted inFIG.3, a distal end of camera mount310may further comprise a sensory capture device.

As described above, robot unit302may be adapted for performing repair work, maintenance work, or other similar situations, tasks, or actions. To perform these actions, robot unit302may comprise at least one utility arm. The depicted embodiment as illustrated inFIG.3illustrates an exemplary embodiment of robot unit302comprising two utility arms330a,330b. Like camera mount310as described above, each of utility arms330a,330bmay comprise a plurality of utility arm segments332that may be separated by motorized pivotable joints334. The number and size of utility mount segments332and pivotable joints334may vary depending on the embodiments and application of robot unit302. Generally, in response to an instruction or commands, one or more of the pivotable joints334may activate to rotate or move utility arms330a,330b. In some embodiments, the pivotable joints334may be used to move utility arms330a,330bin the X-axis, Y-axis, Z-axis as well as control the roll, pitch, and yaw of utility arms330a,330b. Accordingly, through movement in the 6 DOF, each utility arm330a,330bmay mimic or replicate the movement of an operator's arms and hands. In some embodiments, the distal ends336of utility arms330a,330bmay comprise one or more tools, flanges, or other apparatus for performing an action such as repair work. In some embodiments, distal ends336may comprise an adapter or may be otherwise configured for accepting a tool.

Remote assembly system300may further comprise a remote power source350. In some embodiments, the remote power source350may be secured to the base150. In further embodiments, remote power source350may be located within central hub304. The remote power source350may be used to power camera mount310, utility arm330a, utility arm330b, arm390, or any combination thereof. Remote power source350may be an electric generator, batteries, or any other known power source.

In further embodiments, robot unit302may comprise one or more additional capture devices or sensors360for capturing additional information that may be analyzed and/or presented to a user or operator. For example, in some embodiments, robot unit302may comprise a thermometer or heat sensor for capturing heat information. In some embodiments, robot unit302may comprise an electrical sensor for capturing electrical data. For example, robot unit302may be used to work on power lines or in other scenarios involving live power lines or other electrically charged wires or circuitry. Accordingly, to avoid damage to the robot unit302, the boom assembly114, or the utility vehicle112, at least one sensor360may be a sensor for detecting an electrical current. Additionally, robot unit302may comprise at least one sensor360that is at least one of an accelerometer, gyroscope, light sensor, or other sensors for detecting the positioning of camera mount310, utility arm330a, and/or utility arm330b. As described in greater detail below, a sensor for detecting the positioning of robot unit302may aid in replicating or mimicking movement of an operator using motion controls.

In some embodiments, and as depicted inFIG.3, in addition to robot unit302, remote assembly system300may further comprise at least one heavy utility arm390or additional robotics assembly that may operate separately or in conjunction with robot unit302. For example, in many robotics applications, a delicate balance is often considered when designing the features and capabilities of a robot. Typically, robotics adapted and configured for delicate work and fine adjustments are typically not capable of transporting or holding heavy loads. Conversely, robotics adapted and configured for holding or transporting heavy loads typically lack the structural components to perform delicate or fine-tuned actions. By way of non-limiting example, in telecommunication repairs, heavy parts may need to be lifted from the ground to a telecommunication pole. Lifting a heavy part may require a robotic system configured for transporting heavy loads. However, once in position, the part may need a robotic system configured for delicate or sophisticated operations to install the part in position. In some embodiments, robot unit302may be configured and adapted for performing movements or actions directed to sophisticated, delicate, or fine-tuning work, such as manipulating wire, cutting wire, loosening screws and bolts. In some embodiments,300may comprise at least one utility arm390for holding or transporting heavy loads that may be too heavy for robot unit302to safely hold and transport. Accordingly, through the combination of robot unit302and utility arm390, remote assembly system300may perform both dexterous actions and load-bearing actions.

FIG.4illustrates an exemplary remote assembly system400comprising a robot unit402and a high-capacity manipulator or jib404in accordance with embodiments of the present disclosure. Robot unit402may be substantially similar to robot unit302discussed above. As shown, robot unit402may comprise a first utility arm406a, a second utility arm406b, and a camera mount408. Utility arms406a,406bmay be substantially similar to utility arms330a,330bdiscussed above. Camera mount408may be substantially similar to camera mount310discussed above. In some embodiments, utility arms406a,406bare configured to perform work operations, such as removing and installing parts (e.g., insulators) on a utility pole. In some embodiments, camera mount408is a camera-supporting robotic arm that provides operator124a view of the remote location as if operator124was themselves in the remote location. Utility arms406a,406band camera mount408may be coupled to a central hub410(corresponding to central hub304in some embodiments). Central hub410may have dimensions approximating a human torso such that utility arms406a,406bextend off opposite lateral sides of central hub410to mimic the arms of operator124, while camera mount408may extend off a top surface of central hub410to mimic the head of operator124, thereby allowing a remote operator to operate robot unit402in a manner that mimics that operator124was in the remote location performing the energized power line work.

Jib404may be substantially similar to arm390discussed above (e.g., may comprise the same sensors, manage the same loads, etc.). In contrast to arm390, jib404may work in or near the same lateral plane as utility arms406a,406b. Providing jib404in such a side-by-side configuration with arms406a,406b, may improve movement of robot unit402as compared to a remote assembly system300with an over-the-top arm390. That is, robot unit402may be maneuverable through tighter spaces than remote assembly system300because the height of robot unit402is reduced due to the side-by-side arrangement. For example, when working on a 3-phase power line, robot unit402may fit between an upper phase and a lower phase without causing a phase-to-line fault because robot unit402may be able to maintain the minimum distances away from the phases due to the smaller overall height that is enabled by the side-by-side configuration.

A coupling assembly412may connect jib404to an underside of robot unit402, below a receptacle (discussed further below). The coupling assembly412may comprise linkages, joints (e.g., pivot joints), and the like to connect jib404to robot unit402. In some embodiments, coupling assembly412is configured to provide jib404with one-, two-, three-, four-, five-, or six-degrees of freedom. Jib404may also comprise an end effector414, which may be interchangeable with other end effectors such that an appropriate end effector may be selected based on the work task to be performed. For example, as shown below inFIGS.5A-5F, end effector414may be a vise (or other coupler) that couples to an energized phase on to electrically bond robot unit402to the energized phase for performing maintenance work on energized components of the power line. Jib404may further be configured to move the phase, e.g., to move the phase out of the way of robot unit402while robot unit402performs work on other power line components. Further details of the side-by-side configuration may be found in commonly-owned U.S. application Ser. No. 18/395,944, titled “AERIAL ROBOTIC SYSTEMS” the entirety of which is incorporated by reference herein.

Robot unit402may also comprise a tools holder416and parts holder418. Tools holder416may store tools that are usable by utility arms406a,406bfor operating on energized power lines and may include pin pullers (e.g., for decoupling a pinned connection as discussed further below), gripper tools for grabbing an object, and the like. In some embodiments, utility arms406a,406bare configured to automatically retrieve tools from tool holders416and put away tools into tool holders416. For example, responsive to receiving an instruction to retrieve or store a tool, remote assembly system400may automatically perform the instructed action without requiring any further input from operator124. Parts holder418may hold parts that remote assembly system400may use during a work operation, such as parts to be installed onto a utility pole. For example, parts holder418may hold an insulator that may be automatically retrievable by a utility arm406a,406bfor installation onto the utility pole. Parts holder418may comprise a storage element (not shown), such as a foam receptacle or the like, for storing parts therein. As with tools holder416, retrieving and/or storing a part from parts holder418may be an automatic operation carried out by remote assembly system400. It is contemplated that utility arms406a,406bmay be used to place and/or remove parts to/from jib404and/or end effector414.

Robot unit402may further comprise a receptacle420. Receptacle420may be disposed between parts holder418and central hub410. Receptacle420may be configured as an open-faced box (or other open-faced geometrical shape) in which items may be placed. For example, utility arms406a,406bmay remove an insulator from a utility pole and then place the removed insulator into receptacle420for later disposal. In some embodiments, utility arms406a,406bare configured to automatically place items into receptacle420, e.g., in response to a command issued from an operator. Remote assembly system400may comprise a pivot joint422for coupling remote assembly system400to a supporting structure, such as a boom assembly114. Pivot joint422may correspond to pivot joint130discussed above.

Automatic Bond on

Turning now toFIGS.5A-5F, an automatic bond-on work operation for operating on power distribution lines425is illustrated in accordance with embodiments of the present disclosure.FIG.5Aillustrates an initial state of a work operation where remote assembly system400is not in contact with any component of power distribution lines425. As shown, a power distribution line425comprises a utility pole424coupled to phases426via insulators428. Insulators428may in turn be coupled to a cross-arm430and/or directly to the utility pole424. The utility pole424may be a three-phase utility pole, for example, or any other type of power distribution system. For example, it is contemplated that the automatic bond on operations discussed herein may also be used on transmission power lines without departing from the scope hereof.

When performing operations on power distribution lines425using a remote assembly, such as remote assembly system400, ensuring that operations are carried out safely is important to protect workers that may be on the ground, along with components of remote assembly system400. For some operations on power distribution line425, it may be desirable for robot unit402to be at a common electrical potential with the phases426, while for other operations it may be desirable for robot unit402to be at earth potential while working on the grounded components of power distribution line425. Remote assembly system400may be configured to automatically bond on and off to/from power distribution lines425based on the desired power line component to be worked on, as discussed further hereinafter. For example, when in a “home” position, remote assembly system400may be at a floating electric potential. From the floating electric potential, remote assembly system400may bond on to an energized component, such as phase426to operate on energized components, or on to a grounded component to operate at earth potential. The home position of remote assembly system400may be the position of remote assembly system400when remote assembly system400is not in contact with any other component.

In some embodiments, remote operations may be performed on power distribution lines425to replace an insulator428with a new insulator, for example. Replacement of an insulator428requires operations to be performed both on components that are at the electric potential of the phases426and components that are at earth potential. For example, a first end of insulator428may be coupled to an energized phase426via a first connector, and a second end of insulator may be coupled to a ground utility pole424via a second connector. To remove or install an insulator428, operations may need to be performed on both connectors that are at different electric potential. Accordingly, safe operations need to be ensured when transitioning between working on components that are at the electrical potential of phases426and components that are at earth potential to prevent an earth fault. As previously discussed, power distribution lines425may comprise short gaps between energized and deenergized components such that incidental simultaneous contact with the two components is possible, which can lead to severe injury. This is in contrast to working on transmission power lines, where the physical distance between components at differing electrical potentials eliminates the risk of simultaneous contact with said components. Accordingly, it is important to provide systems and methods for working on distribution type lines while preventing simultaneous contact between grounded and energized components.

In some embodiments, robot unit402is prevented from crossing a minimum distance to an energized or grounded component based on the current state of robot unit402. When robot unit402is in the equipotential state, robot unit402may be prevented from crossing a minimum distance to a grounded component that would lead to a line-to-ground fault. In some embodiments, the minimum distance is about 0.23 m (9″) for grounded components. However, it will be appreciated by one of skill in the art that the minimum distance for a line-to-ground fault is a function of voltage, elevation, and system transients such that the minimum distance may be a distance other than 0.23 m When robot unit402is in the non-equipotential state, robot unit402may be prevented from crossing a minimum distance to an energized component. In some embodiments, the minimum distance is about 0.37 m (14.6″) for energized components. Other distances may be used, e.g., a safety factor may be incorporated. In some embodiments, operation of robot unit402is locked responsive to a detection that robot unit402is near or is nearing the minimum distance that will cause a fault (e.g., crossing a threshold distance from the fault or accelerating at a rate that may lead to a fault, etc.)

To operate on power distribution lines425, remote assembly system400may couple to phases426with jib404, while arms406a406bcarry out the maintenance tasks. The jib404may be electrically insulated from robot unit402. For example, the jib404may comprise an insulating section432comprising electrically insulating material, such as fiberglass, that prevents current from passing through jib404to robot unit402when jib404contacts an energized component, such as phases426. In some embodiments, insulating section432has a clear span of about 9 inches; however, it will be appreciated that the amount of clear span needed to ensure electrical insulation may depend on various factors, such as the voltage of phases426, elevation, system transients, and the material of insulating section432. Accordingly, insulating section432may have a clear span of less than or greater than 9 inches without departing from the scope hereof.

Reference is now made toFIGS.5B and5Cwhere jib404is illustrated in greater detail.FIG.5Billustrates jib404coupled to a phase426while robot unit402is not electrically bonded to the phase426, andFIG.5Cillustrates jib404coupled to phase426with robot unit402electrically bonded to phase426. Robot unit402is referred to as being in an equipotential state when bonded to an energized phase426, and as being in a non-equipotential state when not bonded to an energized phase426(e.g., when robot unit402is at earth or floating potential). As previously discussed, boom distal end122may be electrically isolating such that remote assembly system400is at floating electric potential when remote assembly system400is not in contact with any other components.

Jib404may comprise a distal end434aand a proximal end434bwith insulating section432electrically insulating distal end434afrom proximal end434b. Proximal end434bis coupled to robot unit402. Distal end434amay comprise a vise436(corresponding to end effector414discussed above) for coupling to a phase426. While a vise436is shown, generally any end effector414that can couple to phase426is within the scope hereof. For example, a spring-loaded latch, a two-finger clamp, a crow's hook, or other similar grasping devices may be used without departing from the scope hereof. Coupling vise436to phase426places vise436at an equal electric potential to phase426, while insulating section432is electrically insulating to maintain proximal end434bat earth or floating potential. Vise436may have dimensions larger than dimensions of phase426to ensure that electrical contact is made between vise436and phase426. For example, vise436may have a height that is at least 1.5× greater than a height (e.g., diameter) of phase426. Vise436may also be tightly closed to ensure that all or substantially all of the surface area of vise436is in contact with vise436. Vise436may be formed of an electrically conductive material. Other end effectors for electrically connecting to phases426are within the scope hereof. In some embodiments, a first actuator440extends from proximal end434bor robot unit402and is coupled to vise436to actuate vise436. The first actuator440may comprise an electrically insulating material to electrically isolate proximal end434bfrom vise436.

Proximal end434bmay further comprise a second actuator440that is extendable from proximal end434bto distal end434a. As shown inFIG.5C, when operator124wishes to operate robot unit402at the equipotential state (e.g., to operate on an energized object), actuator440may be extended from proximal end434bto distal end434ato electrically connect to vise436, thereby electrically bonding robot unit402to the energized phase426. Distal end434amay comprise a receiver442proximate to vise436for receiving actuator440. In some embodiments, actuator440comprises an end444that is tapered, and receiver442may have a corresponding taper for receiving end444that allows substantially all of the surface area of end444to be in contact with the corresponding taper in receiver442, which may be advantageous in ensuring actuator440is electrically bonded to receiver442. End444may take other shapes without departing from the scope hereof. For example, end444may be cylindrical and received within an outer cylinder formed in receiver442. Actuators438,440may be electrically actuated, hydraulically actuated, pneumatically actuated, or the like. In some embodiments, jib404further comprises a bracket446to which hydraulics448(e.g., a hydraulic cylinder) are mounted to power actuators438,440. Non-conductive hoses449may be coupled to hydraulics448to provide the clamping force for vise436. In embodiments where actuators438,440are not hydraulically actuated, bracket446and hydraulics448may be omitted, and actuators438,440may be powered using electronics at robot unit402, for example. In some embodiments, actuators438,440are powered by the same power sources. In some embodiments, actuators438,440are powered by separate power sources.

As shown, a first cable450may be electrically connected to vise436and extend from vise436to receiver442, providing an electrical connection between vise436and receiver442. A second cable452may be coupled to actuator440such that second cable452moves with actuator440as actuator440is extended and retracted to/from distal end434a. Second cable452may be electrically conductive and electrically connected to robot unit402and actuator440(e.g., via end444). Accordingly, when actuator440is received in receiver442and vise436is coupled to phases426, current may flow from phases426to vise436, from vise436to first cable450, from first cable450to receiver442, from receiver442to end444, from end444to second cable452, and from second cable452to robot unit402. Thus, robot unit402may be at equipotential with phases426. As such, robot unit402may safely operate on components of phases426that are energized. In some embodiments, actuator440is electrically conductive such that current can flow from actuator440to second cable452. The flow of current through actuator440and/or the resultant resistance due to current flow may be monitored to detect when robot unit402is bonded to phase426. For example, responsive to detecting resistance in actuator440or a resistance above a threshold value, robot unit402may be determined to be in the equipotential state. In some embodiments, actuator440comprises a first half and a second half wherein the two halves are electrically isolated from one another. The two halves may extend longitudinally along a length of actuator440and end444such that each of the two halves contact receiver442when actuator440is extended. Accordingly, when actuator440is extended and the two halves are in contact with receiver442, a resistance between the two halves can be measured to determine that actuator440is in contact with receiver442and that a good electrical connection has been achieved. For example, a threshold resistance may be set such that the detected resistance between the two halves can be compared to the threshold resistance to determine whether actuator440is adequately electrically connected to receiver442. The resistance may be monitored during operations of remote assembly system400to ensure the electrical connection is maintained.

In some embodiments, remote assembly system400is configured to detect and/or communicate a bond state (e.g., equipotential or non-equipotential) to operator124. In some embodiments, the bond state is communicated via a user interface as discussed below with respect toFIGS.6A and6B. In some embodiments, the bond state is determined by monitoring the position of actuator440to determine a distance to receiver442, which may be communicated to operator124. For example, when extending actuator440into receiver442, the position of actuator440to a final position within receiver442may be communicated as a percentage such that operator124can ascertain when the electrical bond is (or will be) established. In some embodiments, the determination of whether robot unit402is bonded on is based on a detection of resistance in actuator440. For example, resistance through actuator440may be monitored as discussed above. Once actuator440establishes an electrical connection with receiver442, resistance can be detected in actuator440due to the current flowing through actuator440, thereby indicating that robot unit402is bonded to phase426. As yet another example, the leakage current of jib404may be monitored. When robot unit402is not bonded and vise436is coupled to phase426, jib404may have zero or near zero leakage current and when bonded, jib404may experience leakage current. Accordingly, the leakage current may be monitored and a measurement of leakage current above a threshold value may be indicative of a bond on state. As another example, end444may provide an indication of the bond state. For example, end444may visually indicate to the operator124when end444is fully engaged with receiver442. In some embodiments, end444is spring-loaded with a visual indicator having a distal end (towards operator124) that is actuated when end444engages with receiver442. The distal end, which may be colored to enhance visibility, may then be viewable by the operator124to indicate the bonding state, and the lack of visual of the distal end may indicate to the operator124that remote assembly system400is not electrically bonded to phase426. As another example, a momentary switch may be spring-loaded into end444and actuated when end444is engaged with receiver442. It will be appreciated that more than one method of determining/indicating the bond state may be employed. For example, both a resistance measurement and a visual indicator may be used. As previously discussed, robot unit402may be restricted or prevented from performing certain actions based on whether robot unit402is in the equipotential state or the non-equipotential state.

Turning now toFIG.5D, it can be seen that robot unit402has been bonded to phase426using actuator440, placing robot unit402in the equipotential state, and operations on energized components of phases426may proceed. For example, robot unit402may operate on a phase426that is coupled to an insulator428to remove insulator428from the utility pole424. As shown, a bottom portion454aof insulator428may be coupled to phases426via a first connection456a, while a top portion454bof insulator428may be coupled to utility pole424(FIG.5E) via a second connection456b. The first connection456amay comprise electrically conductive materials and is therefore an energized component due to the connection to phase426. The second connection456bmeanwhile is connected to the electrically insulating insulator428and the grounded utility pole424and is therefore a deenergized component. Thus, robot unit402may operate on first connection456awhile in the equipotential state and on second connection456bwhile in the non-equipotential state.

To remove insulator428, robotic arms406a,406bmay be operated by operator124to decouple bottom portion454afrom phases426when robot unit402is in the equipotential state. For example, one arm406a,406bmay grasp the insulator428to help stabilize the insulator428, while a second arm406a,406bmay be operated to decouple insulator428from phases426. Generally, connections456a,456bare pinned connections. Accordingly, decoupling insulator428from phases426may comprise arms406a,406bremoving a pin458(e.g., a cotter pin) from a pin hole or the like. In some embodiments, tools holder416holds a pin puller tool460that may be operated by an arm406a,406bto remove a pin458from first connection456a.

As shown inFIG.5E, once bottom portion454ais decoupled from phase426, actuator440may be retracted to remove the electrical bond between actuator440and vise436to place robot unit402in the non-equipotential state, thereby allowing operations on second connection456bto proceed. Because insulator428is electrically insulating, robot unit402may safely grasp insulator428without risking an earth fault despite bottom portion454ano longer being at the electric potential of phases426. However, to safely operate on second connection456b, robot unit402may first be returned to earth or floating potential. Thus, as shown inFIG.5E, actuator440may be retracted to return robot unit402to the non-equipotential state. In some embodiments, robotic arms406a,406bare removed from insulator428prior to retracting actuator440. It should be noted that vise436may maintain the coupling with phases426, and insulating section432insulates robot unit402while vise436is clamped to phases426. Along with electrically bonding to phase426using vise436, jib404may also move phase426. For example, jib404may move phase426downwards and out of the way of robot unit402to provide robot unit402more room to operate on grounded components with reduced risk of contacting energized components.

With robot unit402no longer bonded to phases426and insulator428decoupled from phase426, operations on top portion454bof insulator428to complete the removal of insulator428from utility pole424may proceed as shown inFIG.5Fwhere robotic arms406a,406bare operating on insulator428while robot unit402is in the non-equipotential state. In some embodiments, to disconnect second connection456b, one arm406a,406boperates a grabber tool462for grabbing onto insulator428while the other arm406a,406boperates pin puller tool460to remove pin458. Tools460,462may be automatically retrievable from tools holder416. Once first connection456ais decoupled, insulator428may be susceptible to moving due to the wind; thus, stabilizing insulator428with grabber tool462may aid in removing second connection456b. Thus, insulator428may be decoupled from utility pole424and a new insulator428may be installed. When insulator428is decoupled from both connections456a,456b, arms406a,406bmay automatically place the removed insulator428in receptacle420.

It is contemplated that installation of a new insulator428may occur similarly to removal of insulator428. Arms406a,406bmay be configured to automatically retrieve a new insulator428from parts holder418. Specifically, installation of a new insulator428may proceed as follows: (1) top portion454bis coupled to utility pole424via second connection456bwhile robot unit402is at earth or floating potential (i.e., with actuator440retracted); (2) actuator440is extended to place robot unit402at the equipotential state with phase426; and (3) while in the equipotential state, robotic arms406a,406bare used to couple bottom portion454ato phases426via first connection456a. As with removal of an insulator428, vise436may remain coupled to phase426during the entire process of installing insulator428.

Turning now toFIG.6A, a user interface600is illustrated in accordance with embodiments of the present disclosure. The user interface600may comprise one or more user interface elements overlaid the image of the remote location as captured by camera mount408. In some embodiments, user interface600comprises various screens or pages602that operator124can toggle between to access different controls for operating robot unit402. As shown, the currently displayed page602comprises four affordances604a,604b,604c,604dthat may be selectable by operator124to cause jib404to perform a corresponding action. In some embodiments, responsive to selection of the affordance, arms406a,406bare prevented from carrying out other actions until jib404completes the selected action. In some embodiments, arms406a,406bmay operate independently of jib404, and may continue to perform work while jib404performs the selected action.

In some embodiments, a first affordance604ais selectable to cause jib404to close vise436. Vise436may be closed to couple jib404to phase426as previously discussed. Correspondingly, a second affordance604bmay be selectable to cause jib to open vise436. A third affordance604cmay be selected to initiate a bond on action, which may comprise extending actuator440to insert end444into receiver442as previously discussed. A fourth affordance604dmay be provided to initiate a bond off action, which may comprise retracting actuator440from end444to place robot unit402in a non-equipotential state. Each action initiated by selection of a corresponding affordance604a,604b,604c,604dmay be automatically performed by remote assembly system400, i.e., without requiring any further input from operator124. In some embodiments, the operation of coupling vise436to phase phases426is entirely automatic. For example, computer vision techniques may be used to identify phase426(e.g., using imagery captured by cameras on camera mount408) and jib404may be automatically positioned in the correct location where phase426is within vise436whereupon vise436may be closed.

User interface600may further comprise an indicator606. The indicator606may be a textual and/or graphical display indicating a state of robot unit402, the current action being performed, a progress of the current action, or the like. For example, while actuator440is extending towards receiver442, indicator606may read “bonding on-75%” when actuator440is 75% of the way towards the final position within receiver442.

Indicator606may also comprise sensor readings relating to operations of remote assembly system400. For example, indicator606may display sensor data associated with operation of jib404or other components on robot unit402. For example, the sensor readings may display current readings from a sensor (e.g., sensor220) on jib404and/or boom assembly114that is configured to detect leakage current across insulating section432or boom assembly114. If the leakage current exceeds a threshold, a warning may be displayed to operator124via user interface600and/or other preventative action may be taken (e.g., automatically decoupling vise436from phase426.

Turning now toFIG.6B, a user interface600is illustrated in accordance with embodiments of the present disclosure. As shown, user interface600may change during operation of user interface600, e.g., based on the operation being performed, in response to user input, etc. In some embodiments, the page602changes based on the current object being looked at. For example, if it is detected that camera mount408is looking at jib404, page602may be displayed to provide the operator124with controls for controlling the operations for jib404. Pages602may also be switched between manually by operator124. A new page602′ is shown, displaying a different set of affordances than available in page602. For example, page602′ may include affordances associated with operating on second connection456b.

A first affordance608amay be selectable to initiate a change tool action. Selection of first affordance608amay cause one or more arms406a,406bto automatically change a tool or to retrieve a tool from tools holder416if no tools are currently equipped. For example, when operator124wishes to remove a connection456a,456b, operator124may select first affordance608ato automatically retrieve the pin puller tool460to remove the pin458. In some embodiments, selection of first affordance608abrings up an additional page (not shown) comprising a list of tools in tools holder416that operator124may select from to retrieve the selected tool using arms406a,406b. In some embodiments, operator124can select a tool via voice command or by using other methods, such as gaze tracking.

A second affordance608bmay be actuatable to return robot unit402to a home position. The home position for robot unit402may be predefined or an operator may define a home position or robot unit402. In some embodiments, the home position is a predefined distance/position from the power distribution line425.

A third affordance608cmay be configured to retrieve a part from parts holder418. For example, after decoupling insulator428from phase426and utility pole424, third affordance608cmay be selected to automatically retrieve a new insulator held in parts holder418for installing the new conductor onto the utility pole424. A fourth affordance608dmay be configured to place a part in receptacle420. Placing a part in receptacle420with arms406a,406bmay be an automated task.

FIG.7illustrates an exemplary method700for remotely operating on an energized power line in accordance with embodiments of the present disclosure. Method700may enable safe operation on energized power lines where the physical distance between energized and grounded components is close enough such that simultaneous contact with an energized component and a ground component is a risk. Method700is discussed with respect to performing maintenance on an insulator428, but it will be appreciated that other maintenance tasks are in accordance with the scope of the present disclosure.

Method700may begin at step702, where a remote assembly, such as remote assembly system400, approaches a remote location, such as power distribution lines425. The energized power line may be a distribution type power line, a transmission type power line, or any other type of power line. When remote assembly system400approaches the energized power line, remote assembly system400is at the non-equipotential state, i.e., at earth or floating potential.

Next, at step704, jib404may be coupled to phase426using vise436. Step704may occur while actuator440is retracted and not in contact with receiver442. Accordingly, distal end434ais electrically bonded to phase426, while insulating section432electrically isolates proximal end434band robot unit402from phases426such that robot unit402remains in the non-equipotential state. While in the non-equipotential state, robot unit402may operate on components that are at earth potential.

Next, at step706, robot unit402may be electrically bonded to phases426to place robot unit402in the equipotential state. Electrically bonding robot unit402to phases426may comprise electrically coupling actuator440to vise436by inserting actuator440into receiver442as previously discussed. It will be appreciated that other methods of electrically bonding proximal end434bto distal end434aare within the scope hereof. Further, as previously discussed, various methods to determine when robot unit402is/is not electrically bonded to phases426may be used in accordance with aspects of the present disclosure. The bonding state of robot unit402may be communicated to operator124using user interface600and/or auditorily or via any other method.

At step708, robot unit402may operate on energized components of the power line. For example, as discussed above, the operations may involve decoupling the insulator428from the energized phase426. As another example, work may be performed directly on the phase426, such as to remove or add a wire tie to the phase426. Operations directly on a phase426may be assisted by jib404moving the phase426to a desired work position for operator124to work on the phase. For example, the jib404may hold the phase426below robot unit402and out of the way of robot unit402while robot unit402operates on insulator428and may raise the phase426up to a level of robot unit402for robot unit402to work on the phase426. While robot unit402is performing operations on energized power line components, a minimum distance between remote assembly system400and grounded components may be maintained to prevent line-to-line or line-to-ground faults.

Next, at step710, when it is desired for remote assembly system400to operate on grounded components, robot unit402may be de-bonded from the phase426to place robot unit402back in the non-equipotential state. The de-bonding may comprise retracting actuator440from receiver442and removing the electrical bond between actuator440and vise436. The vise436may maintain the coupling with the phase phases426to hold phase426substantially stationary while insulating section432maintains electrical isolation for robot unit402. As with bonding on to phases426, the de-bonding process may be communicated to operator124via user interface600, via audio communications, or any other communication method.

At step712, operations may be performed on components that are at earth potential. For example, phases426may be decoupled from the utility pole via second connection456bthat is at earth potential. As with operating in the equipotential state and maintaining a minimum distance between robot unit402and grounded components, a minimum distance may be maintained between robot unit402and energized components when operating at the non-equipotential state.

It will be appreciated that the ordering of steps in method700is for example purposes only, and that steps may occur in a different order than shown in method700. For example, when installing a new insulator428, robot unit402may first couple the new insulator428to utility pole424via second connection456bwhile operating in the non-equipotential state, and subsequently electrically bond to the energized phases426for coupling the new insulator428to phases426via first connection456a.

Although the present teachings have been described with reference to the embodiments illustrated in the attached drawing figures, it is noted that equivalents may be employed, and substitutions made herein without departing from the scope of the present teachings as recited in the claims.