Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance

Pouliot, Nicolas; Latulippe, Pierre; Montambault, Serge

doi:10.1109/iros.2009.5354819

Cited by 20 publications

(10 citation statements)

References 16 publications

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“…This goes along a particular care applied to the Faraday cages principle application, to electric shielding and grounding of harnesses and critical parts, and, finally, to conductive material selection making all parts of the LineScout to the same voltage as the line it is operated on. Finally, LineScout's kinematic chains are modeled in the camera's controller for automated tracking of key components (such as grippers) during the robot's excursions [12].…”

Section: A Programmable Pan-and-tilt Camera Unitmentioning

confidence: 99%

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

Pouliot

Richard

Montambault

2015

IEEE Power Energy Technol. Syst. J.

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105

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Historically, the inspection and maintenance of high-voltage power lines have been performed by linemen using various traditional means. In recent years, the use of robots appeared as a new and complementary method of performing such tasks, as several initiatives have been explored around the world. Among them is the teleoperated robotic platform called LineScout Technology, developed by Hydro-Québec, which has the capacity to clear most obstacles found on the grid. Since its 2006 introduction in the operations, it is considered by many utilities as the pioneer project in the domain. This paper's purpose is to present the mobile platform design and its main mechatronics subsystems to support a comprehensive description of the main functions and application modules it offers. This includes sensors and a compact modular arm equipped with tools to repair cables and broken conductor strands. This system has now been used on many occasions to assess the condition of power line infrastructure and some results are presented. Finally, future developments and potential technologies roadmap are briefly discussed.INDEX TERMS Field robotics, power line inspection, teleoperation.

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Section: A Programmable Pan-and-tilt Camera Unitmentioning

confidence: 99%

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

Pouliot

Richard

Montambault

2015

IEEE Power Energy Technol. Syst. J.

Self Cite

105

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“…Some important autonomous features have already been implemented to facilitate operation of the technology, as will be discussed in the next sections. For a complete, detailed description of the LineScout control scheme, readers are referred to Pouliot, Latulippe, Montambault, and Tremblay (2009).…”

Section: Linescout Control and Communication Schemementioning

confidence: 99%

Field‐oriented developments for LineScout Technology and its deployment on large water crossing transmission lines

Pouliot

Montambault

2011

Journal of Field Robotics

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Condition assessments for power transmission line infrastructure and conductors are essential to maintain a reliable and efficient system. LineScout is a high-performance robot designed to undertake detailed, comprehensive inspections of transmission lines, which contributes to maintaining the integrity of equipment and the safety of inspection crews. This paper outlines Hydro-Québec's LineScout Technology, describing briefly the main systems and key design issues and discussing the technology's impact and benefits on power transmission line inspection and maintenance practices. The paper then focuses on field results gathered over the past 2 years with LineScout Technology. Very important lessons were learned from more than 20 field deployments of the robot on live transmission lines. An appreciable amount of significant feedback came from these field visits and was decisive in improving the technology. Specifically, transportation and installation methods and onboard energy management strategy are presented. Also discussed, for the first time, is a simplified wheel contact radius estimate, useful for improving the wheel odometer readings. Finally, one field deployment on a large water crossing transmission line is presented in detail. The paper discusses the importance of the work done and of newly implemented features in terms of the quality and efficiency of inspections, the reliability of systems, and the safe operation of the technology. C 2011 Wiley Periodicals, Inc.

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“…The inspection robot was firstly researched since 1980s. Then, the LineScout and Expliner were developed respectively in Canada [2] and Japan [3] . From the 1990s, Wuhan University [4] , Shenyang Institute of Automation (SIACAS) [5] and Institution of Automation [6] pursued the inspection robot independently.…”

Section: Introductionmentioning

confidence: 99%

“…The Line Scout interaction [2] strategy of intuitive control, safety protection, assisted operation and open architecture are researched, while obstacles and faults detection are not included. Wuhan University robot [4] interface focuses on fault detection and database construction.…”

Section: Introductionmentioning

confidence: 99%

“…A mine rescue robot interface [14] is researched with motion control and monitor for robot and environment. The task complexity and operating security are the key challenges for overhead inspection robot.The Line Scout interaction [2] strategy of intuitive control, safety protection, assisted operation and open architecture are researched, while obstacles and faults detection are not included. Wuhan University robot [4] interface focuses on fault detection and database construction.…”

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confidence: 99%

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Human-Robot Interaction System Research for 500kV EHV Power Transmission Line Inspection Robot

Guo

Wang

Sun

et al. 2011

AEF

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Abstract. An assisted and secure interaction system is developed for 500kV EHV Power Transmission Line Inspection Robot. The challenges on amenity, assistance and security of interactive operation are emphasized. Due to the unpredictable line structure and the incomplete sensory, the robot is controlled in remote and locally autonomous mode. Based on the Finite State Machine (FSM), the automatic crossing interface is designed for protecting operators from memorizing redundancy sequences. Measures for friendly operating and avoiding errors are concerned. The architectures for fully autonomous are also engaged. The lab and field experiments validated the interaction system reliable and easy to use. IntroductionRecently, power line inspection and maintenance robot research has become a focus [1] of the robotics at home and abroad. The inspection robot was firstly researched since 1980s. Then, the LineScout and Expliner were developed respectively in Canada [2] and Japan [3] . From the 1990s, Wuhan University [4] , Shenyang Institute of Automation (SIACAS) [5] and Institution of Automation [6] pursued the inspection robot independently. SIACAS has been devoting themselves to the power line inspection and repair robots since 2002. In 2003, AApe-A [7] was manufactured for one span. In 2006, AApe-B was developed for one strain section. In 2009, AApe-B3 was improved for the whole path. Now, we are designing the newest type AApe-D for broken strands repair.A complete human-robot system consists of operators, the robot, Human-Robot Interface (HRI) and environment. The HRI research [8~11] focus on interaction paradigms and design models, human computer adaptation, usability evaluation, multi-modal technique, and natural interaction. The Ground Control Station (GCS) interface [12,13] of Unmanned Aerial Vehicle (UAV) focuses on flight control, real-time display and route plan. The trends are for the universal interface, intelligent decision and security techniques. A mine rescue robot interface [14] is researched with motion control and monitor for robot and environment. The task complexity and operating security are the key challenges for overhead inspection robot.The Line Scout interaction [2] strategy of intuitive control, safety protection, assisted operation and open architecture are researched, while obstacles and faults detection are not included. Wuhan University robot [4] interface focuses on fault detection and database construction. The Explainer interface [3] is for the robot monitor and control, while information processing is not mentioned. According to the cooperation principle between operators and inspection robot, an interface concerned with the amenity, assistance and security is proposed for AApe-B3. A clear layout is devised for state monitor and intuitive control. The automatic crossing interface is designed worthy for assisted operation with improved security and efficiency. The interaction system is friendly interactive and simple to use.

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Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance

Cited by 20 publications

References 16 publications

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

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

Field‐oriented developments for LineScout Technology and its deployment on large water crossing transmission lines

Human-Robot Interaction System Research for 500kV EHV Power Transmission Line Inspection Robot

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