Development of a power line inspection robot with hybrid operation modes

Chang, Wenkai; Yang, Guodong; Yu, Junzhi; Liang, Zize; Cheng, Long; Zhou, Chao

doi:10.1109/iros.2017.8202263

Cited by 54 publications

(34 citation statements)

References 15 publications

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“…One of the gait is a flipper stride in which lifting of legs is done in a striding motion and the other one is crawling stride in which shuffling of legs is done along the line. A hybrid robot [16] is a drone developed in China which is used for autonomic power line inspection. This robot is able to land on the overhead transmission line and to move along the same.…”

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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“…Unmanned Aerial Vehicles (UAVs) have increasingly been used in a wide range of applications, such as surveillance [1], smart farming [2], photogrammetry [3], disaster management, civil security [4], wildfire tracking [5], cloud monitoring [6], structure supervision [7], and power line inspection [8]. The UAVs consist of aerial platforms with no pilots on-board the vehicle.…”

Section: Introductionmentioning

confidence: 99%

Survey on Coverage Path Planning with Unmanned Aerial Vehicles

Cabreira

Brisolara

Ferreira

2019

Drones

421

207

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Coverage path planning consists of finding the route which covers every point of a certain area of interest. In recent times, Unmanned Aerial Vehicles (UAVs) have been employed in several application domains involving terrain coverage, such as surveillance, smart farming, photogrammetry, disaster management, civil security, and wildfire tracking, among others. This paper aims to explore and analyze the existing studies in the literature related to the different approaches employed in coverage path planning problems, especially those using UAVs. We address simple geometric flight patterns and more complex grid-based solutions considering full and partial information about the area of interest. The surveyed coverage approaches are classified according to a classical taxonomy, such as no decomposition, exact cellular decomposition, and approximate cellular decomposition. This review also contemplates different shapes of the area of interest, such as rectangular, concave and convex polygons. The performance metrics usually applied to evaluate the success of the coverage missions are also presented.

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“…However, few works addressed drone-cable interactions. To the best of our knowledge, only the work in [3] and [4] have developed and demonstrated drone platforms to detect power line cables and semi-autonomously land and crawl along them. The platforms rely on off-the-shelf airframes combined with vision/LiDAR sensors and a powerful companion computer to detect and "land" on cables semi-autonomously.…”

Section: Introductionmentioning

confidence: 99%

LOCATOR - Lightweight and Low-Cost Autonomous Drone System for Overhead Cable Detection and Soft Grasping

Iversen

Schofield

Ebeid

2020

2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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Reaching and performing operations on overhead power line cables is challenging and mainly carried out by helicopters or foot patrol. This paper proposes a light-weight and low-cost drone platform for detecting overhead cables to autonomously grasp them through an integrated soft gripper. The cable detection system utilizes a pair of solid-state LiDARs with differing field-of-views and a small onboard companion computer to detect 38mm cables while maintaining accurate alignment to perform grasping. A full drone airframe with a soft gripper has been designed, analyzed and manufactured to serve this work. A set of algorithms and software tools have been developed to accomplish an autonomous drone mission to reach a cable. The overall drone system (LOCATOR) has been tested and validated in simulation and verified in an outdoor setup that reflects the real power line infrastructure.

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Development of a power line inspection robot with hybrid operation modes

Cited by 54 publications

References 15 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

Survey on Coverage Path Planning with Unmanned Aerial Vehicles

LOCATOR - Lightweight and Low-Cost Autonomous Drone System for Overhead Cable Detection and Soft Grasping

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