Measurement of Power Line Sagging Using Sensor Data of a Power Line Inspection Robot

Zengin, Aydin Tarik; Erdemir, Gökhan; Akıncı, Tahir Çetin; Şeker, Serhat

doi:10.1109/access.2020.2998154

Cited by 25 publications

(14 citation statements)

References 46 publications

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“…In reference [55], sag measurement was done by introducing an approach in which a power line inspection robot named ROSETLineBot is used for taking sensor data of the line. The authors improved the algorithm of this robot on Matlab and Simulink to enhance the accuracy of the control systems.…”

Section: Sag Measurement Techniquesmentioning

confidence: 99%

Measurement and monitoring of overhead transmission line sag in smart grid: A review

Mahin

Islam

Ahmed

et al. 2021

IET Generation Trans & Dist

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In a transmission line, sag is intentionally provided to relax the tension on the wire when placed between two terminals. However, thermal stress and extreme weather conditions can cause increases in transmission line sag, which can eventually damage transmission line infrastructure. In this regard, this paper examines a number of sag measurement techniques based on physical or optical properties and integrated with signal processing and communication technologies. The performance of different sag measurement methods is compared in terms of accuracy, precision and key feature. Several challenges and limitations of the existing sag measurement mechanisms are reported. A number of recommendations to address the identified challenges are made. Moreover, an efficient communication framework for sag related information exchange is proposed. This comprehensive review of the sag measurement techniques will facilitate the evolution of new and efficient real-time sag measurement and monitoring methods.

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Section: Sag Measurement Techniquesmentioning

confidence: 99%

Measurement and monitoring of overhead transmission line sag in smart grid: A review

Mahin

Islam

Ahmed

et al. 2021

IET Generation Trans & Dist

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“…erefore, the accurate positioning, strong robustness, and strong environmental adaptability of the IEPG inspection robot are of great signi cance to the power system [3]. Improving the IEPG inspection robot's these features has become the focus of relevant research.…”

Section: Introductionmentioning

confidence: 99%

Applying SLAM Algorithm Based on Nonlinear Optimized Monocular Vision and IMU in the Positioning Method of Power Inspection Robot in Complex Environment

Wang

Kang

et al. 2022

Mathematical Problems in Engineering

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Under China’s Intelligent Electric Power Grid (IEPG), the research on IEPG inspection mode is of great significance. This work aims to improve the positioning and navigation performance of IEPG inspection robots in a complex environment. First, it reviews the monocular camera projection and the Inertial Measurement Unit (IMU) models. It also discusses the tight-coupling monocular Vision Inertial Navigation System (VINS) and the initialization theory of the Simultaneous Localization and Mapping (SLAM) system. Nonlinear optimization for SLAM by the Gauss–Newton Method (GNM) is established. Accordingly, this work proposes the SLAM system based on tight-coupling monocular VINS. The EuRoC dataset data sequence commonly used in visual-inertial algorithm testing in IEPG is used for simulation testing. The proposed SLAM system’s attitude and position estimation errors are analyzed on different datasets. The results show that the errors of roll, pitch, and yaw angle are acceptable. The errors of the X, Y, and Z axes are within 40 cm, meeting the positioning requirements of an Unmanned Aerial Vehicle (UAV). Meanwhile, the Root Mean Square Error (RMSE) evaluates the improvement of positioning accuracy by loop detection. The results testify that loop detection can reduce the RMSE and improve positioning accuracy. The attitude estimation tests the angle changes of pitch, roll, and yaw angles with time under a single rotation condition. The estimated value of the proposed SLAM algorithm is compared with the real value through Absolute Trajectory Error (ATE). The results show that the real value and the estimated value of attitude error can coincide well. Thus, the proposed SLAM algorithm is effective for positioning and navigation. ATE can also be controlled within ±2.5°, satisfying the requirements of navigation and positioning accuracy. The proposed SLAM system based on tight-coupling monocular VINS presents excellent positioning and navigation accuracy for the IEPG inspection robot. The finding has a significant reference value in the later research of IEPG inspection robots.

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“…Many applications have been developed in this field, and there are studies in the literature for this purpose. Most of these studies are included in the literature as image processing studies (Antwi-Bekoe et al, 2020;Guo et al, 2018;Zengin et al, 2020;Zormpas et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Determination of isolator damages in electric power transmission lines with continuous wavelet transform and multitape power spectrum density

Akıncı

Chung²

2021

WJSTSD

Self Cite

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PurposeDetection of deformation of devices in high voltage electricity transmission line systems is an important issue in terms of economy and reuse. This study is aimed to detect devices that are deformed or thought to have suffered due to environmental and electrical reasons.Design/methodology/approachIn this experimental study, it was ensured that the sound and deformed insulators used in energy transmission lines were determined by the analysis of the sounds obtained by using the impact method. Equal intensity impact was applied to the isolator using the pendulum and the resulting sound noise signal analyses were made using power spectral density (PSD), magnitude scalogram (MS), multitape power spectrum density (MPSD) and continuous wavelet transform (CWT) methods in the study. In the analysis results, the isolators that are not visible to the eye and have certain damage were successfully separated from the intact insulators. Especially, MPSD and CWT analysis results are quite satisfactory.FindingsDamage analysis of insulators used in electricity transmission lines has been made. A total of 40 insulators were examined in two categories in their group, both damaged and not damaged. Data collection system was established. The data obtained from the data collection system were analysed and compared using four analysis methods. PSD, MS, MPSD and CWT analyses were made in the study. All the analyses carried out generally contain features that distinguish damaged and undamaged insulators from each other, the most successful results are MS and CWT results. CWT results are very successful in terms of time and amplitude, and it has been proposed as a method that can be used to separate damaged and undamaged insulators.Originality/valueIt can be suggested as a result of experimental tests that the results of CWT analysis can be used in the pulse noise method in isolators to be tested for reuse in electrical power transmission lines.

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Measurement of Power Line Sagging Using Sensor Data of a Power Line Inspection Robot

Cited by 25 publications

References 46 publications

Measurement and monitoring of overhead transmission line sag in smart grid: A review

Measurement and monitoring of overhead transmission line sag in smart grid: A review

Applying SLAM Algorithm Based on Nonlinear Optimized Monocular Vision and IMU in the Positioning Method of Power Inspection Robot in Complex Environment

Determination of isolator damages in electric power transmission lines with continuous wavelet transform and multitape power spectrum density

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