Development of Automatic Inspection Robot for Live-line Insulators

Cho, Byung-hak; Byun, Seung-Hyun; Park, Joon-young; Korea, Jin-seok

doi:10.1109/tdcllm.2006.340743

Cited by 10 publications

(4 citation statements)

References 3 publications

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“…Figure 19. Contaminants being brushed off a conductor in South America and an insulator-cleaning robotic device designed by KEPRI (Cho et al, 2006; c 2006 IEEE).…”

Section: Discussionmentioning

confidence: 99%

Transmission line maintenance robots capable of crossing obstacles: State‐of‐the‐art review and challenges ahead

Toussaint

Pouliot

Montambault

2009

Journal of Field Robotics

150

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Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents a comprehensive review of the state of the art. It focuses on mobile robots designed to cross obstacles found on a typical transmission line while using the conductor as support for traveling. Promising areas of research and development as well as challenges that remain to be solved are discussed with a view to developing fully autonomous technologies. Maintenance tasks, including inspection and repairs, are identified as high-value applications in transmission live-line work. Conclusions are drawn from experience, and the future of mobile robotics applied to transmission line maintenance is discussed. C 2009 Wiley Periodicals, Inc.

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“…Figure 19. Contaminants being brushed off a conductor in South America and an insulator-cleaning robotic device designed by KEPRI (Cho et al, 2006; c 2006 IEEE).…”

Section: Discussionmentioning

confidence: 99%

Transmission line maintenance robots capable of crossing obstacles: State‐of‐the‐art review and challenges ahead

Toussaint

Pouliot

Montambault

2009

Journal of Field Robotics

150

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“…Korea Electric Po wer Research Institute (KEPRI) presented an insulator inspection and cleaning robot for double tension insulator strings in 345kV power transmission lines in 2006 [4][5][6]. The robot is consisted of a left wing, a right wing and a wing connection mechanism.…”

Section: A Robots Based On Inchwormsmentioning

confidence: 99%

A survey on insulator inspection robots for power transmission lines

Lin

Wang

2016

2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)

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Inspection of faulty insulators is an effective and practical way to protect the power transmission lines from accidental power blackouts caused by aging insulators. The traditional manual inspection using a live-line tester is laborintensive, dangerous, inefficient and inaccurate. This paper presents a review of insulator inspection robots and classifies the robots into three categories based on the locomotion mechanism. The structures and details of some typical robot prototypes are described. Moreover, some vital techniques such as mechanical design, control system and electromagnetic compatibility are discussed. Finally, the developing trends and the application perspective of the insulator inspection robots are presented. Index Terms--inspection robots; insulator inspection; live -line inspection; locomotion mechanism; mobile robots I.978-1-5090-3228-0/16/$31.00 ©2016 IEEE

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“…The use of UAVs has become increasingly popular for visual industry inspection; the systems are equipped with different cameras, which provide image representations in visual, infrared or ultraviolet spectral bands and each of these bands has advantages for detecting a huge number of damages or defects [9,13]. Of note among the main applications of visual inspection are to evaluate the condition of structural components such as wires [14], conductors [15], and towers and to detect contamination or physical damages on power insulators [16]. In addition, visual inspection work is highly used to detect encroachment on the ground or near the tower structure.…”

Section: Introductionmentioning

confidence: 99%

Visual-Based Positioning of Aerial Maintenance Platforms on Overhead Transmission Lines

2019

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Unmanned aerial vehicles (UAVs) are an emerging and promising alternative for monitoring of transmission lines in terms of flexibility, complexity, working speed, and cost. One of the main challenges is to enable UAVs to become as autonomous as possible. A vital component toward this direction is the robust and accurate estimation of the UAV placement with respect to the transmission grid. This work faces this challenge by developing a transmission line autonomous tracking system, which allows the placement of a commercial drone over a transmission grid using a monocular camera. This feature provides accurate positioning for the vehicle even where the Global navigation satellite system (GNSS) signal is denied, enabling to report the status of transmission lines, at any time. The system isolates transmission grid conductors in each acquired RGB-image using an image-processing algorithm based on Hough transform, morphological operations, and Gabor filters. With this information, the system computes the location of the UAV using a geometric approach that relates transmission lines building parameter and optical geometry. However, it has the problem of gradual error accumulation when the drone moves. In this regards, the estimated position of the drone is computed by the maximum likelihood estimation (MLE) by the position information estimated by visual-system, the inertial measurement unit (IMU) and GNSS. The proposed positioning system showed an efficiency of 91.44% in field experimentation in the extraction of transmission conductor, with a root mean square the error of 0.18 m in the UAV localization.

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Development of Automatic Inspection Robot for Live-line Insulators

Cited by 10 publications

References 3 publications

Transmission line maintenance robots capable of crossing obstacles: State‐of‐the‐art review and challenges ahead

Transmission line maintenance robots capable of crossing obstacles: State‐of‐the‐art review and challenges ahead

A survey on insulator inspection robots for power transmission lines

Visual-Based Positioning of Aerial Maintenance Platforms on Overhead Transmission Lines

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