Multi-Robot Cyber Physical System for Sensing Environmental Variables of Transmission Line

Fan, Feidi; Wu, Guojun; Wang, Man; Cao, Qi; Yang, Song

doi:10.3390/s18093146

Cited by 32 publications

(18 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…database environment [15] and detection method through images or videos [16], are also studied. Fan et al [17] proposed a Multi-Robot Cyber Physical System (MRCPS) for effective monitoring and maintenance.…”

Section: Literature Reviewmentioning

confidence: 99%

Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone

et al. 2019

View full text Add to dashboard Cite

A novel high-voltage powerline inspection system was investigated, which consists of the cooperated ground vehicle and drone. The ground vehicle acts as a mobile platform that can launch and recycle the drone, while the drone can fly over the powerline for inspection within limited endurance. This inspection system enables the drone to inspect powerline networks in a very large area. Both vehicle’ route in the road network and drone’s routes along the powerline network have to be optimized for improving the inspection efficiency, which generates a new Two-Layer Point-Arc Routing Problem (2L-PA-RP). Two constructive heuristics were designed based on “Cluster First, Route Second” and “Route First, Split Second”. Then, local search strategies were developed to further improve the quality of the solution. To test the performance of the proposed algorithms, different-scale practical cases were designed based on the road network and powerline network of Ji’an, China. Sensitivity analysis on the parameters related to the drone’s inspection speed and battery capacity was conducted. Computational results indicate that technical improvement on the inspection sensor is more important for the cooperated ground vehicle and drone system.

show abstract

Section: Literature Reviewmentioning

confidence: 99%

Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone

et al. 2019

View full text Add to dashboard Cite

show abstract

“…This robot has various features such as vision-based power line inspection, scrub-brush based cleaning, wireless control for remote operation, autostop safety and ability to manoeuvre around obstacles. Three robots [18] such as Portable Inspection Robot (PIR), Traversing Inspection Robot (TIR) and Climbing Inspection Robot (CIR) are developed by Wuhan University, China for straight line motion, crossing obstacles and crossing the tower junctions. The first robot PIR is able to move through the straight transmission line with obstacles, however it cannot cross the tower junctions.…”

Section: Existing Power-line Inspection Robotsmentioning

confidence: 99%

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

2019

View full text Add to dashboard Cite

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.

show abstract

“…In addition to their large surface area which is prone to wind devastation, the existing robots also failed to consider wind effect to their design for stability assessments. In [54], only the speed and direction of the wind acting on the robot was measured as part of the environmental sensing unit. Some other works mentioned the wind effect on the PTLIRs as a potential future research.…”

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

View full text Add to dashboard Cite

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.

show abstract

Multi-Robot Cyber Physical System for Sensing Environmental Variables of Transmission Line

Cited by 32 publications

References 34 publications

Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone

Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone

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

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

Contact Info

Product

Resources

About