Cable‐crawler – robot for the inspection of high‐voltage power lines that can passively roll over mast tops

Abstract

Purpose -The purpose of this paper is to describe the design and prototype implementation of the "Cable Crawler", a mobile teleoperated robot for the inspection of high-voltage power lines which rides on the topmost ground cable. By not being limited to just moving from mast to mast, it implements an innovative mechanism that allows for crossing a set of mast tops as well as smaller obstacles autonomously. Design/methodology/approach -After a brief overview of the state-of-the-art for this application, the basic concept of the robot is presentedwhich basically consists of a chassis and six motorized rubber-coated rollers, two in a horizontal position to take the weight and four vertical ones. The four vertical rollers are pressed onto the wire by springs, which guarantees slip-less propulsion in difficult situations. The detailed design of the most challenging components is presented, as well as the successful tests with the prototype. Findings -The feasibility of the concept is proven with a prototype implementation and successful test results. Practical implications -With a mass of 58 kg and only six drives, it consequently follows the industry's wish to have a robust, easy to maintain and rather cheap solution. Regarding the fields examined by the robot, the project concentrated on the detection of trees growing into proximity of the wires. Future work will mainly stress in further reducing the robot's mass and in facilitating its transport to the mast by the workers. Originality/value -The presented prototype allows for moving on the topmost ground cable of high-voltage power-lines and to passively roll over mast tops and smaller obstacles. With these properties, it is able to inspect long distances of cables in an autonomous way and by using a relatively low-cost and robust robot.

Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

“…The following equations describe error dynamics of the system. Therefore, control law for torque is (12)…”

“…Flight time is less because of the payload and self-weight of the robot. 'Cable crawler' [12] developed by ETH Zurich in 2010 is tested on a single cable by achieving required motion with less number of actuators compared to many of the major robots used in transmission-line inspection. The cable crawler is capable of continuous motion through the guide wires of the transmission tower.…”

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

“…The demerit of this robot is that the robot can run only on dual power-line. Cable crawler [14] is designed by ETH Zurich which traverses on a single cable by achieving complete freedom with less number of actuators. The cable crawler is teleoperated and is capable of continuous motion through the guide wires of the transmission tower.…”

LineScout Technology Opens the Way to Robotic Inspection and Maintenance of High-Voltage Power Lines

“…1). Since then, several projects were initiated throughout the world [1], [3]- [7], with an intention to further develop potential high-voltage power line robots. This paper's main contribution is to present a comprehensive and updated review of a pioneer project that paved the way to a new area of field robotics: the power line robotics domain.…”