A State of the Art of Power Transmission Line Maintenance Robots

Seok, Kwang-Ho; Kim, Yoon Sang

doi:10.5370/jeet.2016.11.5.1412

Cited by 46 publications

(30 citation statements)

References 10 publications

(6 reference statements)

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“…Power Transmission Line (PTL) robots are reviewed and summarized based on the main features such as live line, bundled conductors, obstacle avoidance, strain pylon bypassing, suspension pylon bypassing and pylon/line docking navigation. Eight PTL robots developed by various institutions with countries are listed in [7]. In review paper [8], latest trends and types of mobile robots for PTL are presented.…”

Section: Existing Power-line Inspection Robotsmentioning

confidence: 99%

Dual arm electrical transmission line robot: motion through straight and jumper cable

2019

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Ground-based high voltage electrical line inspection is one of the difficult and highly dangerous job as far as a manual worker is concerned. The transmission line inspection by robots avoids temporary interruption of power supply that affects the end user and transmission grid. Also, robot-based inspection reduces maintenance cost and hazards. The electrical line inspection is normally carried out using binoculars and rarely by helicopters in most of the countries because of the low cost. Wire traversing or aerial robots are being used in Japan, Canada, USA and Russia for inspecting and monitoring faults in transmission lines and towers. However, most of these robots require a lot of human effort for installation due to its weight and complex design. Cost of these robots is also very high. This paper presents the mechanical design, fabrication and testing of a novel, low cost, light weight and compact power transmission line inspection robot. This work also includes kinematic, static and dynamic analysis of various subsystems of robot. Proposed robot is capable of traversing on straight transmission line and jumper cables present in tension towers. The robot has 10 DoF dual arm for crossing operation and a base system to achieve the locomotion.

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Section: Existing Power-line Inspection Robotsmentioning

confidence: 99%

Dual arm electrical transmission line robot: motion through straight and jumper cable

2019

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“…The foreign object indicator performance index based on the target detection algorithm is the recall rate and accuracy rate, where TP + FN = 126. AveragePrecision(AP) is the integral of the PR-curve, which is the area under the curve (8)- (10):…”

Section: Calculation Formula For Evaluation Of Foreign Object Indicatormentioning

confidence: 99%

“…However, conventional robots can only inspect a line while traveling along it [7]. Thus, most research focused on developing new robot architectures for smart navigation over bundle transmission lines [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

OTL-Classifier: Towards Imaging Processing for Future Unmanned Overhead Transmission Line Maintenance

et al. 2019

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The global demand for electric power has been greatly increasing because of industrial development and the change in people’s daily life. A lot of overhead transmission lines have been installed to provide reliable power across long distancess. Therefore, research on overhead transmission lines inspection is very important for preventing sudden wide-area outages. In this paper, we propose an Overhead Transmission Line Classifier (OTL-Classifier) based on deep learning techniques to classify images returned by future unmanned maintenance drones or robots. In the proposed model, a binary classifier based on Inception architecture is incorporated with an auxiliary marker algorithm based on ResNet and Faster-RCNN(Faster Regions with Convolutional Neural Networks features). The binary classifier defines images with foreign objects such as balloons and kites as abnormal class, regardless the type, size, and number of the foreign objects in a single image. The auxiliary marker algorithm marks foreign objects in abnormal images, in order to provide additional help for quick location of hidden foreign objects. Our OTL-Classifier model achieves a recall rate of 95% and an error rate of 10.7% in the normal mode, and a recall rate of 100% and an error rate of 35.9% in the Warning–Review mode.

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“…For a reliable transmission of electric power, the power transmission lines (PTLs) need regular inspections for early fault detection and maintenance. Recognition and localization of faults along the PTL equipment are essential as it helps the power transmission companies minimize maintenance cost and prevents unwanted power outages [1,2].…”

Section: Introductionmentioning

confidence: 99%

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

Alhassan

Zhang

Shen

et al. 2019

Mathematical Problems in Engineering

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To efficiently transmit electric power to consumers, the power lines need to be inspected routinely for early fault detection. Thus, power line inspection robots are designed to replace the tedious and dangerous manual inspection using linemen or helicopters. However, most of the existing inspection robots are heavy, which make them slow and prone to external wind disturbance. This paper developed a lightweight dual-arm robot and investigates its robustness to wind disturbance on a lab-scale power line structure. The dynamic equations of the robot are derived using the Lagrangian equation for appropriate motor selection. Also, the components of the robot are designed to ensure low drag coefficient to wind flow, and the mechanism of the wind force on the robot-line coupled system is presented. To study the real-time impact of the wind, a wind speed of 4.5 m/s representing one of the windiest cities in China is considered as a case study. The experimental results for different wind directions, namely, 0°, 45°, and 90°, show that the maximum vibration is 8% higher than the normal vibration of the system in a controlled environment without wind. The results demonstrate that there is little influence of the wind on the system; hence, the robot has been successfully designed and can be applied for power line inspection.

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A State of the Art of Power Transmission Line Maintenance Robots

Cited by 46 publications

References 10 publications

Dual arm electrical transmission line robot: motion through straight and jumper cable

Dual arm electrical transmission line robot: motion through straight and jumper cable

OTL-Classifier: Towards Imaging Processing for Future Unmanned Overhead Transmission Line Maintenance

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

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