Expliner - Robot for inspection of transmission lines

Debenest, Paulo; Guarnieri, Michele; Takita, Kensuke; Fukushima, Edwardo F.; Hirose, Shigeo; Tamura, Kiyoshi; Kimura, A.; Kubokawa, H.; Iwama, Narumi; Shiga, F.

doi:10.1109/robot.2008.4543822

Cited by 139 publications

(67 citation statements)

References 15 publications

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“…LineScout와 마찬가지로 상용화에 성공한 탐상로봇 이 HiBot Corp.의 Expliner이다 [4] [5]. Expliner는 활선 송 전선을 주행하면서 4도체까지(지름 24~60 mm) 360도 영 상을 촬영하여 분석함으로써 외부 손상 및 내부 부식 조건 등을 점검을 할 수 있고, 매니퓰레이터를 장착할 경우 유지보수 작업을 수행할 수 있다.…”

Section: 서론 본 논문에서는 전력선로 점검용 생체모방형 드론을 본격적으로 개발하기에 앞서서 기술적 실현가능성을 unclassified

Technical Feasibility Study on the Biomimetic Drone for Inspection of Electric Power Lines

Joon-Young¹,

Lee²,

Kim³

2016

KEPCO Journal on Electric Power and Energy

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Live-line maintenance for electric power lines is very dangerous because of their ultra-high voltage environments and the risks of falling from heights. Recently, drone technology has been spotlighted due to its maneuverability and stable controllability, and has been being applied to maintenance works in the electric power industry. This paper presents a new type of drone that can be transformable by introducing biomimetics to its mechanism and can run on an overhead ground wire as well as it can fly. Its technical feasibility was confirmed through experiments. Keywords

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Section: 서론 본 논문에서는 전력선로 점검용 생체모방형 드론을 본격적으로 개발하기에 앞서서 기술적 실현가능성을 unclassified

Technical Feasibility Study on the Biomimetic Drone for Inspection of Electric Power Lines

Joon-Young¹,

Lee²,

Kim³

2016

KEPCO Journal on Electric Power and Energy

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“…As shown on the right-hand side of Figure 4, Figure 4. KEPCO's Expliner prototype shown on a four-conductor bundle with details of its mechanical modules (left) and its novel installation strategy (right) (Debenest et al, 2008;c 2008 IEEE). it is possible to secure an insulated rope onto the live conductor and tension it from the ground. The robot can then climb along the rope and transfer onto the conductor using its crossing strategy.…”

Section: Approaches To Locomotion and Obstacle Crossingmentioning

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

147

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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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“…These two robots could inspect the HVTL and cross the major obstacles except the tension tower. The robot Expliner was made by Tokyo Institute of Technology [9,10], which could cross the HVTL's obstacles with four wheels structure. However, the plan to navigate the obstacles was too complex to inspect the HVTL efficiently.…”

Section: Introductionmentioning

confidence: 99%

Method of Slipping Identification and Control for the Driving Wheel of a High Voltage Transmission Line Inspection Robot

He¹,

Wu²,

Wang³

2017

dtetr

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When the inspection robot runs on the overhead transmission line, self-adaptive climbing ability is an important index to estimate the robot application to real complex conditions, especially in the mountainous areas. The slipping of driving wheel usually happens when the robot climbs the lines with slopes, which would increase the abrasion of the driving wheel, reduce the efficiency of operation and waste the energy. So it is important to develop the wheels slipping identification and control method to improve the climbing ability of the inspection robot. This paper proposed a self-adaptive slipping identification and control method aiming to solve the slipping problem of the driving wheels. Firstly, the mechanism and force situation of the robot has been analyzed when the wheel slipping happens. Then we discussed the major factors to control the robot slipping and developed a dynamic model to identify the wheel slipping. Finally, we proposed a slipping identification strategy and a fuzzy control-based slipping control method. This slipping identification and control method have been tested by the experimental and practical field experiments to make the robot run in the experimental lines and the high voltage transmission lines (HVTL) in real, respectively. The performance results indicate that the proposed method is effective to improve the robot self-adaptive capacity to climb on the lines with slope and enhance the autonomous climbing and running ability of the robot.

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Expliner - Robot for inspection of transmission lines

Cited by 139 publications

References 15 publications

Technical Feasibility Study on the Biomimetic Drone for Inspection of Electric Power Lines

Technical Feasibility Study on the Biomimetic Drone for Inspection of Electric Power Lines

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

Method of Slipping Identification and Control for the Driving Wheel of a High Voltage Transmission Line Inspection Robot

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