Therefore, new highly specialized robots are required to improve the overall quality and safety of the power line inspection. Design, analysis and development of pipeline inspection robot. Corona current monitor for high voltage power lines 8. The research conducted so far has been mainly focused on the development. Open source 3d obstacle recognition applied to a power line inspection robot matheus nascimento control and automation engineer. A mockup of epris underground cable inspection robot with a section of pipe and cables. The development of underground power transmission line.
Development of an inspection robot for 500 kv ehv power. Stable and correct power line tracking is a very prominent issue. The university of kwazulunatal is working with eskom to develop the power line inspection robot, a device that is capable of transporting inspection sensors along overhead power lines. Pdf design of a power line inspection robot researchgate. The inspection of power lines and associated hardware is vital to ensuring the reliability of the transmission and distribution network. Polibot power lines inspection robot emerald insight. Pdf the procedure used for inspection and verification of damages in cables is highly dependent on the experience of a skilled technician who, using. Inspection bots in canada and japan roll out to make power lines safe. Fiber optic application to transmission line inspection 9. A camera was for visual inspection and an encoder is used. Robots used on power transmission lines the inspection and maintenance of power transmission lines can be carried out by an electrician working by him or herself or by using any of the following. The current methods of overhead power line inspection foot patrols and air inspections have been implemented for a long time now and are expensive and infrequent. D also, we can survey all the assets in the power line and get. Design and validation of a mobile robot for power line.
Purpose this paper aims to focus on the design and testing of a robotic device for power line inspection and cleaning. Conceptual design for transmission line inspection robot iopscience. Request pdf the obstacle recognition approach for a power line inspection robot the obstacles measurement and recognition from the complex background is the first step for a power transmission. Cn101800403a inspection robot for ultrahigh voltage. Open source 3d obstacle recognition applied to a power. New robot for power line inspection semantic scholar. Now, the electric power research institute epri is working with utilities to deploy a practical robot as early as 20. The premise of the article is that, for a fully functioning power line inspection robot, the design must be able to traverse the largest obstacle on the line. Pdf inspection robot for highvoltage transmission lines. Conceptual design for transmission line inspection robot. Through its camera, line crews can thus conduct detailed and highly precise inspections of live transmission lines, safely and without compromising grid operation. Hence, power companies have endeavored to make especial cableclimbing robots to accomplish inspection tasks from close distances to the hot line.
Until this moment, all of them have a high weight and cost associated with the equipment and reduced battery autonomy time. Power line inspection robot international journal of innovative. The mobile robot consists of a power, a robot body, a controller, an onboard wireless data and image transmission system and a video camera. Inspection of highvoltage power lines is costly, difficult, and dangerous. Power line robotic device for overhead line inspection and maintenance article pdf available in industrial robot 441. Abstract the mobile robots equipped with inspection sensors, instruments and communication devices are able to automatically perform online detection or. For insulator inspection, a detailed mechanical model of a specialized robot has been completed, fabricated, and successfully demonstrated at epris facilities. Development of a practical power transmission line inspection. Download pdf pdf download for autonomous inspection robot for power transmission lines maintenance while operating on the overhead. The obstacle recognition approach for a power line. The power supply operating principle is based on harvesting the magnetic energy around the power supply lines 3, by clamping a transformer around the line 6 to produce power enough for the robot.
In recent years, it has become increasingly necessary to perform inspection work with the autonomous inspection robot in power transmission line. Design, modelling and control of a brachiating power line. The robot consists of two motors, four wheels, sensors. Pdf design of a prototype power line inspection robot. Design and development of a power line inspection robot. Eskom has thousandsofkilometres of transmission lines running across south africa. New inspection robot for overhead transmission lines. Cableclimbing robots for power transmission lines inspection. Power line robotic device for overhead line inspection and maintenance rebecca miller, farshid abbasi and javad mohammadpour college of engineering, university of georgia, athens, georgia, usa abstract purpose this paper aims to focus on the design and testing of a robotic device for power line inspection and cleaning. New robot for power line inspection university of missouri. Inspection robot based mobile sensing and power line. Designmethodologyapproach the prototype uses vgrooved wheels to grip the line and can pass obstacles such as splices. The portable handheld controller is also developed with communication, control. Epris robot prototype for inspection of underground transmission cables that run through pipes.
However, manual inspection is a hazardous, slow, expensive and unreliable task. It would inspect the line by recording temperature, distance, and sending back video eed to f visually inspect for flaws in the conductor, insulators and other components alog the n line. Pdf transmission line monitoring system for a power line. Thanks to technological advances, utilizing robots as reliable substitutes for human beings in hazardous. As the pli robot system is an underactuated nonlinear system, obtaining the full information of the fourstate variables is necessary to balance the pli robot. General type2 fuzzy gain scheduling pid controller with. Now a robot has been designed to travel along transmission lines, covering km of line at least twice a year, inspecting the line and checking for highrisk vegetation. Unlike the conventional manual inspection methods that are labor intensive, dangerous and expensive, an efficient inspection using robots has been a key research interest. Pipe inspection robots for structural health monitoring.
Latest development of epris transmission line inspection. Epri is continuing to develop a transmission line inspection robot, known as ti, that can be permanently installed to traverse 80 miles of transmission lines at least twice a year. The proposed solutions are critically assessed and the associated problems are outlined. Geometric design of the linescout, a teleoperated robot for power line inspection and maintenance in proceedings of the ieee international conference on robotics and. Hardware diagram a motor control b camera control the inspection robot is also equipped with a dome camera with two degrees of freedom.
Inspection of highvoltage power lines is costly, difficult, and a dangerous job even. The lineranger is a smart inspection robot designed to travel along highvoltage transmission lines looking for signs of damage. In this paper, a general type2 fuzzy gain scheduling pid gt2fgspid controller is presented to achieve selfbalance adjustment of the powerline inspection pli robot system. Robots take on tough tasks in transmission and distribution. Composition and function of the inspection robot aapeb the inspection robot aapeb is composed of a mobile robot and a ground base station, as shown in fig. Lineranger is an inspection robot for checking live power. Review and latest trends in mobile robots used on power. Pipe inspection robots for structural health monitoring pipe inspection robots for gas and oil pipelines a lmost all the energy related utilities like fuel, gas or oil supply lines and power generation sources such as nuclear and thermal power plants and so forth require an extensive network of pipelines for various transportation purposes.
However, as the number of input variables increases. The purpose of this paper is to provide the design of a prototype power line inspection robot for the monitoring of eskom transmission lines. Power linecrawling robot may give drones a run for their. Contactless power supply system for transmission line. This work aims at developing an energy harvesting system to use with a riol 1, for inspection of high voltage overhead power lines. The potential of snake robotswhich in other applications have proven capable of. Its ultimate purpose is to inspect the transmission lines through cameras and send the data to the ground. Nicknamed ti, the new inspection robot is being tested in lenox, mass. Autonomous inspection robot for power transmission lines. The robot is composed of left and right track walking mechanisms driven independently and camera tripod head with better environmental adaptability and flexibility of movement.
Routine inspection of a power transmission line ptl system for early fault detection and maintenance is crucial for efficient transmission of electric power to consumers. Since their inception in the nuclear, electric or gas power. Power line robotic device for overhead line inspection and. Design parameters were set to measure distance within15% accuracy. Pdf power line robotic device for overhead line inspection and.
This work aims to develop a transformer prototype, used in a power supply system that will be implemented at the riol robot 1. Tis highdefinition visual and infrared cameras inspect rightsofway and components and determine clearances between power lines and trees. Several studies have aimed to develop robotic systems which move in transmission lines. For the prototype line current is used as power supply.
As opposed to traditional inspection strategies, a fully autonomous robot can easily travel long distances, avoiding the. Solarblind power line inspection system through detecting uv 7. Optimizing several geometric parameters achieved a compact design that was successfully tested over many line configurations and obstacle sequences. Power line inspection is of the utmost importance for the reliability and stability of electric power distribution. Linescout is the tool of choice for obtaining the highquality information that is crucial for grid reliability. The invention discloses an inspection robot for ultrahigh voltage power transmission lines, which is characterized by comprising a robot main body 3, walking and clamping mechanisms and a charging device, wherein the robot main body 3 has a framed box structure and comprises a control device, a detection device and a wireless image transmission device. Okuda king mongkut s university of technology thonburi bangkok 14140, thailand nippon institute of technology, japan abstract an autonomous robot for the power transmission line inspection that can induce the voltage from the transmission line as a power. The power supply circuit to the arm is also shown in the figure and it helps to step down the voltage to 3. Robots that crawl along and inspect power lines could save utilities a bundle in preventive checks. Line inspection, mobile robot, transmission line, power distribution, autonomous robot, line climbing, mobile monitoring, transmission line inspection.
Experimental setups and result sag detection, current fluctuation detection, crack the figure shows the experimental setup of. You only need to experience another blackout for a reminder of the importance of power grid maintenance. Though com mercial and research robots for inspecting and monitoring powerline are available, the weight. Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. Power line inspection robot skysweeper 11109 robotpark. Full autonomy is a key factor when assessing the economical advantages in the use of this type of robots. An overview of the technology is presented, including a description. In the long term, the use of a robot that is specifically designed to inspect and monitor these transmission lines will be far more cost effective and. Pipeline inspection, mobile robot, modelling, simulation. Regarding nonbarrier segment of a transmission line as flexible and analyzing dynamics character of the robot. There is a need for accurate detection methods of illegal electricity usage.
The focus for this design is on simplicity and compactness with a goal to create a device for linemen and other power line workers to keep in their toolbox. Abstracta mobile robot based on novel linewalking mechanism is proposed for inspecting power transmission lines. Based on these findings, a new concept for robotassisted power line inspection, combining both climbing and flying principles, is proposed. A hardware diagram of the motor control is depicted in figure 4 a. Highvoltage transmission line inspection robot ieee conference. By taking lidar actions, the power operator can use the acquisition data to perform low level design to the power line and identify major risks close to the conductors, namely vegetation, new buildings and overhead power lines crossing.
It should also determine if an inspection robot would be a feasible solution to aid eskom in monitoring. The robot is controlled by wireless remote control mode. It is designed to be permanently installed and automatically traverse 80 miles of transmission line twice per year, collecting information that can. The small underground power transmission line inspection track robot is developed. Design, modelling and control of a brachiating power line inspection robot. Back in 1987,88, the company that i worked for trc developed a line inspecting robot for the tva that line powered and rolled down the line.
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