A mobile robot for inspection of power transmission lines

Sawada, Jun; Kusumoto, K.; Maikawa, Y.; Munakata, Tadashi; Ishikawa, Yoshihiro

doi:10.1109/61.103753

Cited by 236 publications

(84 citation statements)

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“…Several works have been developed involving algorithms for robot control and mechanical configuration. The first works were proposed by [18][19][20][21].…”

Section: Robots Used On Power Transmission Linesmentioning

confidence: 99%

Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

Gonçalves

Carvalho

2013

International Journal of Advanced Robotic Systems

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This paper presents the current state of the art in mobile robots used on power transmission lines. Many theoretical and experimental studies have been conducted in order to develop autonomous machines to travel along transmission lines to perform inspection and/or repair work. These machines can improve efficiency, reduce labour costs and are expected to reduce the risk of injury to maintenance personnel. Despite there already being a number of pieces of theoretical research and technological developments in this area, problems related to stability, ability and autonomy still exist. As such, first this paper presents the main studies already carried out and the devices generally used on power transmission lines. After the latest trends have been presented, a new idea for module robots carrying out inspections/maintenance of power transmission lines is presented. Finally, the future of mobile robots applied to power transmission lines is discussed.

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“…Several works have been developed involving algorithms for robot control and mechanical configuration. The first works were proposed by [18][19][20][21].…”

Section: Robots Used On Power Transmission Linesmentioning

confidence: 99%

Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

Gonçalves

Carvalho

2013

International Journal of Advanced Robotic Systems

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“…Aerial maintenance of power line by helicopter is efficient but also dangerous [6,7]. Recently, with the development of both artificial intelligence technologies and smart grid, inspection of power line by robot with detectors is a method with good prospect [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of MFL Sensor for Detecting Broken Steel Strands in Overhead Power Line

Jiang¹,

Xia²,

Hu³

et al. 2011

PIER

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Abstract-Aluminum conductor steel-reinforced (ACSR) cable is a specific type of stranded cable typically used for electrical power delivery. Steel strands in ACSR cable play a supportive role for overhead power line. Inspection timely is an important means to insure safety operation of power lines. As steel strands are wrapped in the center of ACSR cable, the common artificial inspection methods with optical instruments are limited to find inner flaws of power line. Recently, inspection of power line by robot with detectors is a method with good prospect. In this paper, the optimal design model of detector based on magnetic leakage flux (MLF) carried by robot for detecting broken steel strands in ACSR cables has been proposed. The optimal design model of MFL sensor is solved by niche genetic algorithm (NGA). Field experiment results show that the design method of the detector can be applied to different types of ACSR cables. The magnitude field induced by transmission current has nearly no influences on the detection of broken steel strands, and the developed detector carried by robot can identify broken steel strands with high reliability and sensitivity.

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“…One common approach to line-walking robot for fulfill power transmission line inspection task uses a conventional rail wheeled vehicle with the addition of a device that can overcome obstacles on the line. A wheeled trolley that carries an arc-shaped rail is described in [1], which by extending the rail to either side of the tower can be carried to the other side of obstacles. LineScout [2,3,4], a line-walking robot developed at Hydro-Qu´ebec's research institute (IREQ), is a platform can cross obstacles by deploying a two-gripper auxiliary frame under the cable and securing a grasp on both sides of the obstacle.…”

Section: Introductionmentioning

confidence: 99%

“…Despite a higher efficiency the disadvantage of this method is that it is more expensive and climate-dependant. Since the early 1990s, many researchers have investigated in the development of inspection robots to assist people or to replace people on power transmission line site [1]. wangzhen@ksitri.com; xushaoqiang@ksitri.com; chengsheng@ksitri.com.…”

Section: Introductionmentioning

confidence: 99%

Development of a practical power transmission line inspection robot based on a novel line walking mechanism

Wang¹,

Liu²,

Wang³

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only one leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The pose adjustment analysis is carried out to make sure that the robot will keep in stable state when rolling on the power transmission line which forms a catenary curve. The obstacle-navigation cycle of the designed inspection robot is composed of a single-support phase and a double-support phase. The centroid of the robot will be adjusted to shift to the other leg to start a new single-support phase. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment.

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A mobile robot for inspection of power transmission lines

Cited by 236 publications

References 0 publications

Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

Optimal Design of MFL Sensor for Detecting Broken Steel Strands in Overhead Power Line

Development of a practical power transmission line inspection robot based on a novel line walking mechanism

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