A cooperative heterogeneous Unmanned Autonomous Systems solution for monitoring and inspecting power distribution system

Pirbodaghi, Saeed; Thangarajan, Dinesh; Liang, Teo Hung; Shanmugavel, Madhavan; Ragavan, Veera; Sequeira, João

doi:10.1109/iccicct.2015.7475330

Cited by 7 publications

(6 citation statements)

References 14 publications

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“…The power line maintenance inspection robots can be mainly divided into three types, inspection only, maintenance only, and both inspection and maintenance; for example, Japan, Europe, and United States have studied live maintenance automation technology and developed a variety of automation devices for different kinds of operation tasks by using intelligent operation terminal tools relied on insulated bucket arm trucks. 1,2 The representative robots in this field include the optical fiber composite overhead ground mobile robot which is developed by Tokyo Electric Power Company, 3,4 the Phase series robot which is developed by Japan Kyushu Electric Power Company, [5][6][7] subsequently, the Manitoba University in Canada 8 has developed the tactile remote control manipulator, and Canada Quebec Hydropower Research Institute 9 has developed "LineScout robots" which can perform maintenance with obstacle functions. After years of development, more and more new technologies are being applied to the inspection, operation, and maintenance of HVTL through the LineScout platform.…”

Section: Research Status Of Inspection Maintenance Robot For Transmission Linesmentioning

confidence: 99%

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Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Jiang

Zou

et al. 2020

Robotica

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SUMMARY High-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which not only has high labor intensity and low work efficiency but also has great personal safety risks. In order to solve such difficult problems, this paper studies the power maintenance robot for insulator string replacement, spacer replacement, damper and drainage plate maintenance; the basic configuration and the operation motion planning have been proposed; and the virtual prototype of the inspection maintenance robots has been developed, and then the mechanical structure of the robots has been optimized by the robot kinematics modeling and analyzed the working space based on the Monte Carlo method. The system platform, operation function, structural characteristics and related key technologies involved in the robot system development were systematically summarized; the deep integration point for the robot technology with big data, cloud computing, artificial intelligence, and ubiquitous power Internet-of-Things technologies was also discussed. Finally, the physical prototype of the insulator replacement, drainage plate tightening, and damper replacement operation robot has been developed; several experimental tests on a 220 V live line have been conducted so as to verify the robot engineering practicality; and the main development and future research direction have also been pointed out at last.

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Section: Research Status Of Inspection Maintenance Robot For Transmission Linesmentioning

confidence: 99%

“…The inverse solution of the robot kinematics is the reverse process of the positive solution, it can be used to solve the variable values and link offset parameters of any joint at any time, and the inverse kinematics solution of the robot manipulator can be obtained as Eqs. ( 4) and (5).…”

Section: Kinematics Inverse Solutionsmentioning

confidence: 99%

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Jiang

Zou

et al. 2020

Robotica

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“…The use of UAVs in a cooperative way was proposed by (Pirbodaghi et al, 2015). This system used two robotic platforms that were heterogeneous and cooperative in executing tasks.…”

Section: Detection Of Towersmentioning

confidence: 99%

Towards the Automatic Visual Monitoring of Electricity Pylons from Aerial Images

Odo

McKenna

Flynn

et al. 2020

Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Application

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Visual inspection of electricity transmission and distribution networks relies on flying a helicopter around energized high voltage towers for image collection. The sensed data is taken offline and screened by skilled personnel for faults. This poses high risk to the pilot and crew and is highly expensive and inefficient. This paper reviews work targeted at detecting components of electricity transmission and distribution lines with attention to unmanned aerial vehicle (UAV) platforms. The potential of deep learning as the backbone of image data analysis was explored. For this, we used a new dataset of high resolution aerial images of medium-to-low voltage electricity towers. We demonstrated that reliable classification of towers is feasible using deep learning methods with very good results.

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“…There were a very few researches mentioned large unmanned helicopter, which can schedule multiple sensors to track the power lines automatically [24]. Pirbodaghi, et al [25] designed a cooperative heterogeneous unmanned autonomous system, in which a three-arms robot moves on the transmission lines while a drone inspects the transmission tower.…”

Section: Literature Reviewmentioning

confidence: 99%

Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone

Liu¹,

Shi²,

Liu³

et al. 2019

Preprint

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A novel high-voltage powerline inspection system is investigated, which consists of the cooperated ground vehicle and drone. The ground vehicle acts as a mobile platform that can launch and recycle the drone, while the drone can fly over the powerline for inspection within limited endurance. This inspection system enables the drone to inspect powerline networks in a very large area. Both vehicle’ route in the road network and drone’s routes along the powerline network have to be optimized for improving the inspection efficiency, which generates a new two-layer point-arc routing problem. Two constructive heuristics are designed based on “Cluster First, Rank Second” and “Rank First, Split Second”. Then local search strategies are developed to further improve the quality of the solution. To test the performance of the proposed algorithms, practical cases with different-scale are designed based on the road network and powerline network of Ji’an, China. Sensitivity analysis on the parameters related with the drone’s inspection speed and battery capacity is conducted. Computational results indicate that technical improvement on the inspection sensor is more important for the cooperated ground vehicle and drone system.

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A cooperative heterogeneous Unmanned Autonomous Systems solution for monitoring and inspecting power distribution system

Cited by 7 publications

References 14 publications

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Towards the Automatic Visual Monitoring of Electricity Pylons from Aerial Images

Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone

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