Telerobotics for Aerial Live Power Line Maintenance

Aracil, Rafaél; Ferré, Manuel

doi:10.1007/978-3-540-71364-7_28

Cited by 11 publications

(5 citation statements)

References 6 publications

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“…One of the more famous robot systems for the maintenance of overhead distribution lines is the remote control robot system of Hydro Quebec [2]. This robot system is made up of two hydraulic robots teleoperated from an aerial cabin placed on the top of a boom and an auxiliary arm capable of very long access [3].…”

Section: Introductionmentioning

confidence: 99%

“…The Spanish telerobotic system ROBTET works through remote operation control, effectively protecting operator safety [3]. The system is suitable for the maintenance of live power lines up to 69 kV and was used in field operations between 2002 and 2004.…”

Section: Introductionmentioning

confidence: 99%

“…In terms of improving the sense of presence, ROBTET uses stereo vision and a single field of view camera and graphics to touch through force feedback to augment operator presence [3]. Kyushu electric power investigated three methods to superimpose 3D frame models of working environment parts on the photographs to construct the working environment [9], [10].…”

Section: Introductionmentioning

confidence: 99%

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Autonomous Live-Line Maintenance Robot for a 10 kV Overhead Line

Feng

Zhang

2021

IEEE Access

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Live work is a dangerous and complex operation that endangers the lives of operators. This paper presents an autonomous live-line maintenance robot (ALMR), which is applied to 10 kV overhead lines. The ALMR can complete most of the operations automatically, requiring only a small amount of correction and operation. The paper briefly introduces the overall design of the ALMR. The main part of the paper describes the work carried out to realize automatic operation: (1) Propose a dynamic hierarchical task planning method that can decompose complex operations into a sequence of instructions that the robot can directly execute and can effectively deal with unexpected situations during operation; (2) solve the problem of recognition and positioning of cables under outdoor sunlight interference and complex backgrounds;(3) realize the robot's motion planning in the live-line scene; (4) build a virtual environment to solve the telepresence problem of remote operation. Field experiments show that the ALMR can replace manual operations such as connecting and disconnecting lead-flow lines, and the operating efficiency is close to that of manual operations.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Autonomous Live-Line Maintenance Robot for a 10 kV Overhead Line

Feng

Zhang

2021

IEEE Access

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“…Early robotic systems for live-line maintenance include the remote-controlled robot system of Quebec Hydropower in Canada [2,3], the Spanish remote robot system ROBTET [4], and the Japanese robot phase series [5]. These robot systems are all operated remotely, and an operator manually controls a robot arm to perform complicated tasks.…”

Section: Introductionmentioning

confidence: 99%

An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots

Feng

Wei-jun

2021

Applied Sciences

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The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper proposes a multi-DOF robot motion planning method based on RRT and extended algorithms. The planning results of traditional RRT and extended algorithms are random, and obtaining sub-optimal results requires a lot of calculations. In this study, a sparse offline tree filling the planning space are generated offline through the growing–withering method. In the process of expanding the tree, by removing small branches, the tree can fully wiring in the planning space with a small number of nodes. Optimize wiring through a large number of offline calculations, which can improve the progressive optimality of the algorithm. Through dynamic sampling and pruning, the growth of trees in undesired areas is reduced and undesired planning results are avoided. Based on the offline tree, this article introduces the method of online motion planning. Experiments show that this method can quickly complete the robot motion planning and obtain efficient and low-uncertainty paths.

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“…In practice this can be achieved through one or more of several approaches, ranging from simple tool changers [166], to keep track of the position of tools, up to more complicated approaches like visual tracking systems. At the most basic level, the human operators themselves will keep track of these objects.…”

Section: Factors Affecting Telemanipulation Planningmentioning

confidence: 99%

Task-based telemanipulation for maintenance in large scientific facilities

Owen-Hill¹

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This thesis presents a task-oriented approach to telemanipulation for maintenance in large scientific facilities, with specific focus on the particle accelerator facilities at European Organization for Nuclear Research (CERN) in Geneva, Switzerland and GSI Helmholtz Centre for Heavy Ion Research (GSI) in Darmstadt, Germany. It examines how telemanipulation can be used in these facilities and reviews how this differs from the representation of telemanipulation tasks within the literature. It provides methods to assess and compare telemanipulation procedures as well a test suite to compare telemanipulators themselves from a dexterity perspective.It presents a formalisation of telemanipulation procedures into a hierarchical model which can be then used as a basis to aid maintenance engineers in assessing tasks for telemanipulation, and as the basis for future research. The model introduces a new concept of Elemental Actions as the building block of telemanipulation movements and incorporates the dependent factors for procedures at a higher level of abstraction.In order to gain insight into realistic tasks performed by telemanipulation systems within both industrial and research environments a survey of teleoperation experts is presented.Analysis of the responses is performed from which it is concluded that there is a need within the robotics community for physical benchmarking tests which are geared towards evaluating the dexterity of telemanipulators for comparison of their dexterous abilities.A three stage test suite is presented which is designed to allow maintenance engineers to assess different telemanipulators for their dexterity. This incorporates general characteristics of the system, a method to compare kinematic reachability of multiple telemanipulators and physical test setups to assess dexterity from a both a qualitative perspective and measurably by using performance metrics.Finally, experimental results are provided for the application of the proposed test suite onto two telemanipulation systems, one from a research setting and the other within CERN. It describes the procedure performed and discusses comparisons between the two systems, as well as providing input from the expert operator of the CERN system.

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Telerobotics for Aerial Live Power Line Maintenance

Cited by 11 publications

References 6 publications

Autonomous Live-Line Maintenance Robot for a 10 kV Overhead Line

Autonomous Live-Line Maintenance Robot for a 10 kV Overhead Line

An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots

Task-based telemanipulation for maintenance in large scientific facilities

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