Structure-Constrained Obstacles Recognition for Power Transmission Line Inspection Robot

Cable-Climbing Robots for Power Transmission Lines Inspection

“…Moreover, such mechanisms should be modified to be able to overcome the obstructions such as warning spheres, which have more protrusion from the line than the clamps. Another interesting cable-climbing mechanism, which is similar to the works in (de Souza et al, 2004) and (Sun et al, 2006) with a modification in arms movement, was presented by Fu et al in 2006. Their inspection robot, shown in Figure 19, has two arms with driving wheels mounted on top of each arm. The arms can go up and down, and the driving wheels, which are combined with a gripper mechanism to grasp the line when it is required, can move the robot along the line.…”

“…In this procedure, the rear arm becomes the front arm and vice versa. When the both arms pass the obstacle, the robot should go back to its original configuration again (Fu et al, 2006). (1) www.intechopen.com Figure 20, similar method has been used for navigation and obstacle traversing in (Ren & Ruan, 2008).…”

“…One of the most simple and efficient mechanisms, which resolves some of the issues in (Fu et al, 2006) and (Ren & Ruan, 2008), proposed by Zhu et al in 2006. The robot configuration, as shown in Figure 21 (a) and (b), has two arms equipped with a special gripper combined with a driving wheel.…”

Path planning for power transmission line inspection robot based on visual obstacle detection

“…Some methods were proposed in [9][10][11][12]. These methods require considerable computing power, which is not sufficed by the onboard CPU of the inspection robot.…”

“…An obstacle detection and classification method is proposed in [9], which is based on several arrays of ultrasonic proximity sensors. A method based on images captured on transmission lines can recognize counterweight and clamp using the structure-constrained feature in [10] [11]. UTM-30LX LIDAR system is used for obstacle detection and location in [12].…”