Design and its visual servoing control of an inspection robot for power transmission lines

Zhao, Dezheng; Yang, Guodong; Li, En; Liang, Zize

doi:10.1109/robio.2013.6739516

Cited by 11 publications

(4 citation statements)

References 14 publications

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“…The image processing of this scheme was complicated, and it was sensitive to light changes. After that, Zhao et al [102] proposed a means of combining remote control and IBVS. This method was effectively carried out in the laboratory environment.…”

Section: Visual Servo Of Ptl Inspectionmentioning

confidence: 99%

Environment Perception Technologies for Power Transmission Line Inspection Robots

et al. 2021

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With the fast development of the power system, traditional manual inspection methods of a power transmission line (PTL) cannot supply the demand for high quality and dependability for power grid maintenance. Consequently, the automatic PTL inspection technology becomes one of the key research focuses. For the purpose of summarizing related studies on environment perception and control technologies of PTL inspection, technologies of three-dimensional (3D) reconstruction, object detection, and visual servo of PTL inspection are reviewed, respectively. Firstly, 3D reconstruction of PTL inspection is reviewed and analyzed, especially for the technology of LiDAR-based reconstruction of power lines. Secondly, the technology of typical object detection, including pylons, insulators, and power line accessories, is classified as traditional and deep learning-based methods. After that, their merits and demerits are considered. Thirdly, the progress and issues of visual servo control of inspection robots are also concisely addressed. For improving the automation degree of PTL robots, current problems of key techniques, such as multisensor fusion and the establishment of datasets, are discussed and the prospect of inspection robots is presented.

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Section: Visual Servo Of Ptl Inspectionmentioning

confidence: 99%

Environment Perception Technologies for Power Transmission Line Inspection Robots

et al. 2021

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“…Other research institutions have proposed some dual-arm prototypes without the hip joint, which are mainly composed of two arms and a counterweight adjusting mechanism. [10][11][12][13][14] When coming across an obstacle, the robot moves its counterweight and the center of gravity is adjusted to one arm. The other arm lifts up or moves to the lower side of the line, the arm on the line rotates or moves forward, the off-line arm crosses the obstacle.…”

Section: Introductionmentioning

confidence: 99%

A novel unit mechanism for serial head-tail alternatively supported robot

Gao

Liu

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Multi-unit serial mobile robot designed for obstacle avoidance, inspection or rescue task, should ideally be able to switch the head and tail as supporting stand to move forward wriggly, be lightweight and low energy consumption, aiming at adapting to complex application environment. This paper proposes a novel robot pitching unit based on a parallelogram mechanism, and a robot with the proposed units taking the task of power transmission line inspection as application background. To reduce unit motor number and weight, a single motor and cable driving(SMCD) method is proposed. The unit architecture and robot prototype are designed. The kinematic model is developed and the supporting stand switch process is presented. According to the force analysis of the unit mechanisms, the driving motor energy consumption calculating methods of the proposed unit and the conventional serial unit are presented respectively. The low energy consumption characteristic of the proposed unit is demonstrated through applications respectively on a 4-unit serial immobile robot model and an inspection robot model for power transmission line. Experiments of unit supporting stand switch and robot prototype crossing obstacles are conducted to verify the unit feasibility. The results of analysis and experiments show that comparing with the conventional units, the whole energy consumption of the robot can be reduced clearly by applying the proposed units, the novel unit is capable of switching the supporting stand, based on which the inspection robot meets the application requirements on overhead power transmission line.

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“…Many research are typically conducted based on the following two platforms: multirotor unmanned aerial vehicles (UAVs) and climbing robots. [1][2][3][4][5] By contrast, the UAV inspection is becoming more and more popular owing to its nice maneuverability.…”

Section: Introductionmentioning

confidence: 99%

A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection

Hui

Bian

Zhao

et al. 2019

International Journal of Advanced Robotic Systems

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This article presents a monocular-based navigation approach for unmanned aerial vehicle safe and continuous inspection along one side of transmission lines. To this end, a navigation model based on the transmission tower and the transmission-line vanishing point was proposed, and the following three key issues were addressed. First, a deep-learningbased object detection and a fast and smooth tracking algorithm based on the kernelized correlation filter were combined to locate transmission tower timely and reliably. Second, the vanishing point of transmission lines was computed and optimized to provide unmanned aerial vehicle with a robust and precise flight direction. Third, to keep a stable safe distance from transmission lines, the transmission lines were first rectified by optimizing a homography matrix to eliminate the parallel distortion, and then their interval variation was estimated for reflecting the spatial distance variation. Finally, the real distance from transmission tower was measured by the triangulation across multiple views. The proposed navigation approach and the designed UAV platform were tested in a field environment, which achieved an encouraging result. To the best of authors' knowledge, this article marks the first time that a safe and continuous navigation approach along one side of transmission lines is put forward and implemented.

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Design and its visual servoing control of an inspection robot for power transmission lines

Cited by 11 publications

References 14 publications

Environment Perception Technologies for Power Transmission Line Inspection Robots

Environment Perception Technologies for Power Transmission Line Inspection Robots

A novel unit mechanism for serial head-tail alternatively supported robot

A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection

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