Double conical wheels based mobile robot for aerial power distribution lines inspection

Abstract

There are several proposals of robots for inspection of overhead power network, and most of them make use of UAVs (Unmanned Aerial Vehicle). Such proposals present disadvantages like, low controllability, small payload capability and short operation range. On this scenario, this work presents a robot that can move over the power line and has as features: three driven wheels, distributed control system and selfconfiguration frame. The robot can overpass all power line devices taking the advantage of its wheel's shape that provides a self-steering capability. The communications between each motor controller is done by IEEE 802.15.4 wireless communication standard. The robot can be controlled by an electrician to proceeds the inspection from the ground level or in an autonomous way. A prototype was constructed and was tested, in both, laboratory and field environment. The test results shown the effectiveness of the robot proposed.

Power Distribution System Faults and Wildfires: Mechanisms and Prevention

“…Simulation results indicated the kinematic structure of the proposed robot was capable of moving successfully on power distribution lines up to a slope of 10 0 . A similar work was presented in [98], where a double conical wheels-based mobile robot was developed for the aerial inspection of power distribution lines. This robot consisted of three driven wheels, a distributed control system and a self-configuration frame.…”

“…Category Content, Methods, Analysis Techniques [97] Mobile robot Development of a kinematic structure of a robot capable of moving on powerlines avoiding obstacles for condition assessment [98] Mobile robot Developed a double conical wheel based mobile robot with three driven wheels, distributed control system and a self-configuration frame [99] Teleoperated robotic platform Presented the mobile platform design and its mechatronics subsystems describing the functions and the potential applications [100] Teleoperated robotic platform Development of a robotic system which consists of operators cabin and remote platform which is located on the top of an isolated telescopic boom [101] Robotized inspection with infrared vision Infrared thermography anomaly detection algorithm was developed to process the thermographic images and to detect hotspots in conductors [102] Mobile robot…”

Cross-arms Identification with Adaptive Digital Image Processing

“…The current inspection methods used by distribution companies can be classified into two categories: visual and by contact. In such scenario, an automated visual inspection robot was proposed by [3], which include improvements related works such as robot movement over the power line, such as in loco visual inspection and autonomous guidance. The main task of the robot is to inspect the cross-arms, in order to verify its servicing state.…”