A Survey of Mobile Robots for Distribution Power Line Inspection

Katrašnik, Jaka; Pernuš, Franjo; Likar, Boštjan

doi:10.1109/tpwrd.2009.2035427

Cited by 260 publications

(137 citation statements)

References 27 publications

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“…This approach is particularly interesting since it has certain advantages: (1) In power engineering, pylons are built with regularity that can be parameterized. Parameterized models can provide important semantic knowledge, e.g., the height of pylons and the length of arms.…”

Section: Motivation and Contributionsmentioning

confidence: 99%

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A Stochastic Geometry Method for Pylon Reconstruction from Airborne LiDAR Data

Guo

Huang

et al. 2016

Remote Sensing

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Object detection and reconstruction from remotely sensed data are active research topic in photogrammetric and remote sensing communities. Power engineering device monitoring by detecting key objects is important for power safety. In this paper, we introduce a novel method for the reconstruction of self-supporting pylons widely used in high voltage power-line systems from airborne LiDAR data. Our work constructs pylons from a library of 3D parametric models, which are represented using polyhedrons based on stochastic geometry. Firstly, laser points of pylons are extracted from the dataset using an automatic classification method. An energy function made up of two terms is then defined: the first term measures the adequacy of the objects with respect to the data, and the second term has the ability to favor or penalize certain configurations based on prior knowledge. Finally, estimation is undertaken by minimizing the energy using simulated annealing. We use a Markov Chain Monte Carlo sampler, leading to an optimal configuration of objects. Two main contributions of this paper are: (1) building a framework for automatic pylon reconstruction; and (2) efficient global optimization. The pylons can be precisely reconstructed through energy optimization. Experiments producing convincing results validated the proposed method using a dataset of complex structure.

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Section: Motivation and Contributionsmentioning

confidence: 99%

“…Monitoring of power lines is traditionally labor intensive [1][2][3]. Automating the monitoring of high-voltage transmission line systems is of importance to power utility safety [4,5].…”

Section: Introductionmentioning

confidence: 99%

A Stochastic Geometry Method for Pylon Reconstruction from Airborne LiDAR Data

Guo

Huang

et al. 2016

Remote Sensing

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“…However, there are some differences between the robot in mountainous region and the other ones. The functionalities of the robot in mountainous region should include not only autonomous traveling along the OGW, autonomous inspection, and at least semi-autonomous obstacle crossing [1], but also passing through the narrow space between OGW and SLT, and climbing on large-angle OGW when the robot cannot roll up. …”

Section: A Backgroundmentioning

confidence: 99%

“…In order to keep power transmission lines reliable and minimize the loss when the power supply fails, the transmission lines should be inspected regularly to obtain running conditions and find transmission line faults as early as possible. This inspection task is carried out commonly by two methods: foot patrol and helicopter-assisted inspection [1].In the foot patrol inspection, a team of workers drive or walk from tower to tower, and inspect the power transmission lines with help of binoculars and infrared cameras on the ground. Sometimes, workers have to climb the tower and ride a gondolas suspended on the overhead ground wires [2].…”

Section: Introductionmentioning

confidence: 99%

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

Wang

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-In this paper an autonomous mobile robot is proposed for inspecting power transmission lines in mountainous regions. After a brief introduction of background and the robot mechanism, the key functionalities of the inspection robot-obstacle detection in traveling, path planning in obstacle crossing and large-angle line climbing, are discussed in detail. Obstacles are detected and recognized efficiently by a visual method. The obstacle description is built based on visual obstacle detection and a feasible obstacle crossing path is found using a visual graph algorithm. Finally, some field experiments are carried out to show that the robot can work well on the power transmission lines in mountainous regions with the aforementioned functionalities.

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“…The detection effect is satisfactory due to the simple image background in the experiment, but the canny edge detector does not perform well with noise immunity when used with a complex background. Reference [17] proposes a ratio algorithm used to detect the edge of the transmission line and insulator because the ratio algorithm performs well in noise immunity and produces satisfactory effects. The ratio algorithm is the method used to detect linear targets, requiring that the direction of the transmission line is parallel to the horizontal edge of the image, while the insulator is a nonlinear target.…”

Section: Introductionmentioning

confidence: 99%