Hydro-Qu&amp;#x00E9;bec's Power Line Robotics Program: 15 years of development, implementation and partnerships

Montambault, Serge; Pouliot, Nicolas

doi:10.1109/carpi.2014.7030065

Cited by 10 publications

(5 citation statements)

References 14 publications

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“…en, the combined robot-line-wind dynamics and its simulation analysis are, respectively, presented. Figure 7 illustrates the potential wind disturbance on a robot-line couple system in one direction, x. e dynamics of the wind force f w given in [45] can be represented in equation (12), where C d is the drag coefficient, A is the cross-sectional area, ρ a is the air density, and v a is the velocity of the wind. C d is a dimensionless quantity used to quantify the resistance of an object in a flow environment (air or liquid), where small coefficient indicates less aerodynamic drag [56].…”

Section: Mechanism Of Wind Load On the Robot-line Systemmentioning

confidence: 99%

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Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

Alhassan

Zhang

Shen

et al. 2019

Mathematical Problems in Engineering

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To efficiently transmit electric power to consumers, the power lines need to be inspected routinely for early fault detection. Thus, power line inspection robots are designed to replace the tedious and dangerous manual inspection using linemen or helicopters. However, most of the existing inspection robots are heavy, which make them slow and prone to external wind disturbance. This paper developed a lightweight dual-arm robot and investigates its robustness to wind disturbance on a lab-scale power line structure. The dynamic equations of the robot are derived using the Lagrangian equation for appropriate motor selection. Also, the components of the robot are designed to ensure low drag coefficient to wind flow, and the mechanism of the wind force on the robot-line coupled system is presented. To study the real-time impact of the wind, a wind speed of 4.5 m/s representing one of the windiest cities in China is considered as a case study. The experimental results for different wind directions, namely, 0°, 45°, and 90°, show that the maximum vibration is 8% higher than the normal vibration of the system in a controlled environment without wind. The results demonstrate that there is little influence of the wind on the system; hence, the robot has been successfully designed and can be applied for power line inspection.

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Section: Mechanism Of Wind Load On the Robot-line Systemmentioning

confidence: 99%

“…Hydro-Quebec research institute, Canada, is one of the leading institutes that designed a practical tele-operated climbing PTLIR known as the LineScout in [11,12]. e 120 kg heavy structure has been extensively tested on a 735 kV line.…”

Section: Introductionmentioning

confidence: 99%

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

Alhassan

Zhang

Shen

et al. 2019

Mathematical Problems in Engineering

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“…Qin et al: A novel flying-walking power line inspection robot of obstacles (Debenest and Guarnieri, 2010;Fonseca et al, 2008). Montambault and Pouliot (2015) designed the climbing inspection robot characterized as a clamping mechanism to cross obstacles (Pouliot and Montambault, 2012;Montambault and Pouliot, 2015). Wuhan University proposed a twoarmed mobile robot to achieve autonomous motions (e.g., walking and crossing obstacles) on power lines (Wang et al, 2011b).…”

Section: Introductionmentioning

confidence: 99%

A novel flying–walking power line inspection robot and stability analysis hanging on the line under wind loads

et al. 2022

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Abstract. To address the problems of existing power line inspection robots (PLIRs), such as complex structural design, difficult landing on and off lines, short cruise times, and easy hitting lines, we propose a novel flying–walking power line inspection robot (FPLIR) with the ability to fly and walk. The structural design of an FPLIR is carried out, which mainly includes a flying mechanism and a walking mechanism. Compared with climbing PLIRs and unmanned aerial vehicles (UAVs), the FPLIR can quickly land on and off lines, easily cross obstacles, and have longer cruise times and steady inspection perspectives. In addition, a directing-push pressing component is designed to improve the walking stability along the line. We also investigate the walking stability of the FPLIR on the line when encountering working conditions with crossing wind. The dynamics model of the FPLIR on the power line using the Lagrangian equation is derived to analyze walking stability caused by wind loads, considering pressing force and walking speed. An optimized regression design with three factors (wind angle, walking speed, and pressing force) and five levels was adopted to reveal the effect of these factors on the walking stability of the FPLIR. The experimental results show that wind angle and pressing force significantly influence the walking stability of the FPLIR (P<0.05). The maximum swing displacement of the center of mass (COM) is 4.7 cm (when wind angle, walking speed, and pressing force are 90∘, 7.2 m min−1, and 0, respectively). The maximum swing displacement of the COM is 2.5 cm when the pressing force increasing to 39.4 N is reduced by 46.2 % (when wind angle and walking speed are 90∘ and 5.1 m min−1, respectively), which effectively reduces the influence of wind loads and improves the stability of the FPLIR. The proposed FPLIR significantly improves inspection stability, providing a theoretical basis for slipping control, collecting images of intelligence inspection robots in the future.

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“…The main research institutes in this field include Hydro-Qué bec's Research Institute, HiBot Corporation and Tokyo Institute of Technology, etc. [1][2][3]. In addition, the prominent research institutes in China, such as Shenyang Institute of Automation of the Chinese Academy of Science, Wuhan University, Hunan University, Shanghai University, etc.…”

Section: Introductionmentioning

confidence: 99%

“…remote control robot named LineROVer [1] and a kind of multifunction inspection robot named LineScout [2] in 15 years. The robot LineROVer is quite capable of inspection, maintenance, de-icing of power transmission lines, but does not have the power to negotiate obstacles and can only work in one span between two towers.…”

Section: Introductionmentioning

confidence: 99%

Research on a novel bionic robot mechanism for power transmission lines inspection

Xiao

Wang

2016

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Robotics has yet become an advanced and reliable technology widely deployed in practical application of power transmission lines inspection for the purpose of stretching the reach of the lineman's arm and eyes. However, as in some hostile environments, excellent climbing performance and maneuverability remain as the greatest challenges and always can't be achieved simultaneously for the existing inspection robots. To overcome the problem, this paper presents a novel bionic robot mechanism on the basis of imitating human beings climb up the tree. After a brief introduction of environment features and motion requirements, the climbing motion of human beings is studied and the mechanical design of robot is accomplished. And then the kinematics equations are deduced, the force conditions are discussed and optimized. Furthermore, the motion sequences of negotiating two kind of typical obstacles are planned. Finally, some simulation has been carried out and the simulation results show that the mechanism can achieved the expected goals.

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Hydro-Québec's Power Line Robotics Program: 15 years of development, implementation and partnerships

Cited by 10 publications

References 14 publications

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

A novel flying–walking power line inspection robot and stability analysis hanging on the line under wind loads

Research on a novel bionic robot mechanism for power transmission lines inspection

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