Expliner robot for inspection of transmission lines request pdf. The authors have assembled a fullscale functional model of such a mobile robot. Inspection of substations inspection of high voltage lines energized or not note. Now, because of aging infrastructure, the need is greater than ever to identify potential failures before they disrupt service and require line personnel or electricians to make repairs. It was known that there is great interest among the energy distribution companies of purchasing a system that allows remote inspection of power lines, particularly. Towards robotic nondestructive inspection of industrial. To address these difficulties, a novel method of autonomous inspection for transmission line is proposed based on cable inspection robot cir lidar data, which mainly includes two steps. Linescout a robot for inspecting live transmission lines linescout and its robotic arm linescout on a fourconductor. Nov 03, 2017 hydroquebec takes a major step forward in the development of a semiautonomous drone for the inspection of power transmission lines. The robot can maneuver over obstructions created by subsidiary equipment on the ground wire. This paper describes the development of a mobile robot that can navigate power transmission lines completely unattended by a human operator. Epri is continuing to develop a transmission line inspection robot, known as ti, that can be permanently installed to traverse 80 miles of transmission lines at least twice a year.
Polibot power lines inspection robot emerald insight. Eskom has thousandsofkilometres of transmission lines running across south africa. A true segment of transmission line in missouri mo is used in case study to illustrate the effectiveness of the derived routing algorithm. Robots take on tough tasks in transmission and distribution. Designed to ensure the reliability and longterm operability of facilities and.
Mobile robot for inspection of power transmission lines. The laser scanner maps the terrain and forms an accurate 3d model of the components of the power network, as well as of the surrounding buildings, forest and. Mechanical implementation and simulation of mobolab, a. One of the challenging steps in the development of power transmission line inspection robot is the design of a mechanism. Ulc aerial services offers a complete range of uav inspection services for gas utility transmission and distribution assets. An in line inspection robot designed to provide an accurate assessment of the current condition of the below ground pipework at high pressure gas installations. Hence, power companies have endeavored to make especial cableclimbing robots to accomplish inspection tasks from close distances to the hot line. However, as in many other hostile environments, substantial benefits in terms of workers safety and quality of inspection results could arise. Its ultimate purpose is to automate the inspection of power transmission line equipment.
It is equipped with an arcshaped arm that acts as a guide rail and allows it to negotiate transmission towers. In its constructive aspect, the robotic mechanism is designed using principles of bioengineering. Fiber optic application to transmission line inspection 9. The transmission line inspection robot fortnightly. Linescout is the tool of choice for obtaining the highquality information that is crucial for grid reliability. Maintenance tasks, including inspection and repairs, are identi.
Pdf mobile robot for inspection of power transmission. Loss of aluminium strands decreases current carrying capacity and mechanical. Several studies have aimed to develop robotic systems which move in transmission lines. The yellow book this industrystandard referenceoffered together with pictorial field guides and webbased training helps utilities reduce costs, increase reliability, and extend the life of overhead transmission lines. Different methods have been explored to examine, assess and determine andor perform maintenance where needed, and, in canada, to deice those lines as well. Cableclimbing robots for power transmission lines inspection 67 using different configuration of these six units, t he robot will be able to adapt itself to different geometrical environments and avoid obstacles with different shapes and sizes, transfer to a branch wire, and even transfer to a parallel line. Conceptual design for transmission line inspection robot iopscience. Reliable electric power supply with minimised failures is the key factor that the present society is keenly looking for. Review and latest trends in mobile robots used on power.
Expliner robot for inspection of transmission lines. Pdf cableclimbing robots for power transmission lines. In this context, this paper aims to propose the polibot power lines inspection robot with low cost and weight, enabling the movement over the lines and an easier installation and. Autonomous overhead transmission line inspection robot ti. Jan 15, 2018 the benefits of using open source systems are immeasurable, both from academic and industrial applications. For this reason, this paper proposes a new robotic structure capable of running along the three. Future inspection of overhead transmission lines electric power. Currently, inspection of overhead highvoltage transmission lines is performed as an aerial inspection by workers or carried out visually using binoculars or helicopters. Thus, this paper presented a new two legs mobile robot to be applied for maintenance and inspection ofpower transmission lines which methodologies for transposition of obstacles and towers were. The main purpose of the robot is maintenance and inspection. Unmanned aerial utility inspection services ulc robotics. The development of a mobile robot that can navigate overhead power transmission lines completely unattended by a human operator is described. Ground inspections of components also are performed in some instances, while certain components can only be examined by climbing towers.
Introduction the procedure used for inspection and verification of wires or cables of energy transmission lines is subject to the experience of one technician who, through binoculars, covers the lines of transmission in a helicopter and is able of. For many utilities, the current practice involves dispatching inspection workers to conduct fastflyby to assess the condition of lines in remote or inaccessible areas, employing limited helicopter hovering. We conduct safe and efficient unmanned aerial inspection flights to gather critical pipeline data through the use of specialized sensors and customized visual imaging devices. There are several researches aimed at developing methods for automated inspection, but these focus on transmission lines. The inspection robot mobile robot must be able to bypass or avoid obstacles as it travels along the power transmission line. Comparison of three main robotic platforms used to perform inspection work in transmission lines. Introduction in recent years it has become a necessity to perform inspection work without suspending electric power supply. The methodology of development of the mechanical system included the study of wind effects on the robot. Possible visions for the inspection of transmission lines in a multidecade time frame.
Highvoltage transmission line and sf6 gasinsulated. Ti epri transmission line robot development executive. Such a robot has to do more than just rolling on the power transmission line. In recent years, it has become increasingly necessary to perform inspection work with the autonomous inspection robot in power transmission line. A mobile robot for inspection of power transmission lines. Power transmission line inspection robots ptlirs are used to inspect the condition of transmission lines autonomously with less cost, faster and safer as compared to the traditional inspection techniques briefly discussed above. The safe and efficient methodology of autonomous robotic inspection is needed to avoid these kinds of problems involved in the manual inspection. Latest development of epris transmission line inspection robot. Introduction the purpose of inspecting power transmission lines ptls is to obtain running cond itions and find damage of the transmission lines. Mechanical function testing of the robot has been performed, and results are reported. Power transmission lines are used worldwide to transmit electricity for power distribution purposes to the customer. Its ultimate purpose is to automate inspection of power transmission lines and their equipments. Expliner a robot for inspection of transmission lines.
The characteristics of the transmission lines are usually very different compared to distribution lines. Corona current monitor for high voltage power lines 8. This invention addresses an inspection robot for live transmission line cables that is comprised of a pair of guide rollers located on each side of the robot in order to guide the conductor into its position alongside the pulleys that support its weight and ensure its movement. Inspection robot was described based linegrasping control with visual servo for power transmission line wang ludan and wang hongguang, et al. Robotic inspection systems for transmission systems will integrate advanced sensing, processing, communications, mobility, and power harvesting technologies to deliver actionable data for justintime maintenance. Robotic devices can also implement maintenance tasks while traversing the power lines. The inspection of high voltage transmission line is a very risky job and the cost of testing it is too high as the design of insulation suit of inspection person can be difficult. Multifunctional robotic system for live power transmission lines. Geometric design of the linescout, a teleoperated robot for. Us201700124a1 inspection robot for live transmission. Transmission line inspection is currently the domain of humans who walk high on the lines like tightrope walkers, which means that the power lines have to be turned off before inspection can begin. Inspection robot suspended on power transmission lines based. Japanese startup hibot, a maker of various types of robots for commercial use such as industrial pipeline cleaning, also developed a high transmission line inspection robot name expliner.
For inspection and maintenance activity, innovation is seek as transmission networks are pressured by increasing loads and high reliability requirements 12. This paper presents a bibrachiate robot for the inspection tasks of the high voltage power transmission line hvptl. Cableclimbing robots for power transmission lines inspection 65 and aluminium to each other and leads to galvanic corrosion between iron and aluminium. Obstacles are plenty on these hundreds of kilometers long cables, and towers are regularly standing along the line. Jul 10, 2012 epri is continuing to develop a transmission line inspection robot, known as ti, that can be permanently installed to traverse 80 miles of transmission lines at least twice a year. The autonomous transmission line inspection robot is intended to reduce or eliminate the need for helicopter overflights while supporting a transition from scheduled to conditionbased maintenance on both existing and new corridors. Linescout robot climbs on live power lines to inspect them. Introduction power transmission lines are used worldwide to transmit electricity for power distribution purposes to. Epri is developing a transmission line inspection robot to be permanently installed on, and designed to traverse 80 miles of line at least twice a year, collecting highfidelity information that utilities can act on in real time. Two methods of accomplishing this task have been developed. For instance, the devices can locate and remove debris such as salt accumulation, vegetation, ice and animal nests. Performing tasks on live overhead lines add complications to the design of inspection robotic devices. Pdf inspection robot for highvoltage transmission lines.
Cableclimbing robots for power transmission lines inspection 67. The procedure used for inspection and verification of damages in cables is highly dependent on the experience of a skilled technician who, using binoculars, covers the transmission lines in a helicopter, and is able of visualing points where seems to exist damaged spots in the wires and in insulators of the transmission lines. An inspection robot was developed with three arm for 110kv power transmission live lines fengyu zhou, yibin li, et al. A line inspection robot autonomously inspects transmission lines to detect any faults in the. The purpose of inspection robot for power transmission lines is to check running state and find damages of extrahigh voltage ehv power. Jan 20, 2014 to ensure the stable supply of electric power, it is critical to carry out preventive maintenance and inspections of the overhead transmission lines. Robotic inspection enables conditionbased monitoring of transmission lines. Nicknamed ti, the new inspection robot is being tested in lenox, mass. Therefore, we have, developed robotic tools to work in places that are often hard to get to and to provide operators with diagnostic tools to assist them in their decisionmaking.
The robot must be able to manoeuver past obstacles on the transmission lines whilst monitoring the line for signs of defects, deterioration, bird nests and other related problems. On the other hand, current inspection methods have major drawbacks because these are based on the following regime. Overhead transmission line inspection robots the robot. Introduction many theoretical and experimental studies have been carried out in order to develop autonomous machines which can travel along transmission lines to perform inspections. In general, the ptlirs are teleoperated by humans in the ground control center gcs via radio control system. New inspection robot for overhead transmission lines.
Maintenance of transmission and distribution lines transmissionline inspection on globalspec. The robot navigates a ground wire that is located above the actual power transmission lines. The methodology of manual highvoltage transmission line inspection is a timeconsuming process, and also it involves high risk. Keywordstransmission line inspection, line sleeve, transmission line inspection robot, line sleeve inspection. During the development of the robot mechanical system able of moving along a cable of a transmission line is needed the development of the locomotion and actuation subsystems and of a tower transposition mechanism. Until this moment, all of them have a high weight and cost associated with the equipment and reduced battery autonomy time. Us201700124a1 inspection robot for live transmission line. Latest development of epris transmission line inspection. Autonomous inspection robot for power transmission lines. Hydroquebec has solid expertise in using robotics to inspect and maintain power generation, transmission and distribution infrastructure.
Drones and robots combine for transmission line monitoring. Robot for inspection of transmission lines abstract. Development of an inspection robot for 500 kv ehv power. First of all we meet with the power operator and set the rules to the incoming inspection. Higher voltages and supporting devices are being devised for better power transmission. The developed inspection tool can reliable to move along transmission line and overcome several obstacles on transmission line. The authors have developed a scaled functional model of such a mobile robot with a preliminary simple computer based onoff controller. Last week hibot announced a partnership with hitachi hightech group to expand the development and distribution of that robot. Optimal crossing and control of mobile dualarm robot through. How does the robotic transmission line inspection system work. With this robot, more lines are maintained with lower time. Jan 30, 2014 in the power industry, optimizing the use, performance and life of transmission lines, is a continuing need. As an anode, aluminium corrodes rapidly and white powder aluminium hydroxide is produced.
Transmission line inspection using suspended robot. Ideally, the robot should move directly on the transmission lines for more detailed data acquisition. Hydroquebecs research institute ireq continues to make. Epris robot prototype for inspection of underground transmission cables that run through pipes. Introduction many theoretical and experimental studies have been carried out in order to develop autonomous machines which can travel along transmission lines to perform inspections andor repair work. Finally, the conclusion of the thesis is drawn, and the future work is discussed. This paper describes the process of designing the mechanical part of a robotic system able to travel autonomously on power transmission lines, to inspect them. Cableclimbing robots for power transmission lines inspection. The idea was to have a small mobile robot that could be able to roll on highvoltage transmission lines and deice them.
Using different configuration of these six units, the robot will be able to adapt itself to. The trials being undertaken to test the method works. The inspection of highvoltage transmission lines is a dangerous and timeconsuming job, that relies on especially trained workers operating tens of meters above the ground, and close to live. The transmission line inspection robot presents one of the latest initiatives toward that goal. It is designed to be permanently installed and automatically traverse 80 miles of transmission line twice per year, collecting information that can be used to make maintenance decisions. Epris overhead transmission inspection and assessment. This paper is a brief summary of the design and manufacture of an electric robot, whose purpose is to inspect transmission lines, aiming to find defects, such as broken conductors, broken space dampers etc.
Mobile robot, inspection, visual inspection, service robot. For decades, utility operators have been searching for a way to automatically conduct physical inspections of overhead transmission lines. Overhead transmission line inspection robots the robot report. The robot gathers the data of these transmission lines using various sensors which is sent to the control room by using the transceiver provided in the robot. In the united states alone, they traverse tens of thousands of milesmany of them in remote areas. Jan, 2015 the robotic copter is equipped with a laser scanner, cameras and aviation safety systems and has the capability for long distance bvlos beyond visual line of sight inspection flights. Solarblind power line inspection system through detecting uv 7. Tis highdefinition visual and infrared cameras inspect rightsofway and components and determine clearances between power lines and trees. It is a great challenge to inspect transmission line in these regions. Therefore, detailed inspection of the transmission lines, when possible, would require powerful cameras and special attitudecontrol methods 12. The line inspection robot autonomously inspects power lines while mounted on a live phase line. Mechanical implementation and simulation of mobolab, a mobile. Inspection is needed once or twice a year to assess component aging and rightofway clearance.
Pdf development of transmission line sleeve inspection. Although some tasks have been successfully automated. Traditional inspection robot for high voltage transmission line robot is hard to cross the drainage line and other non straight line segment obstacle because of the small operation space. The current methods of overhead power line inspection foot patrols and air inspections have been implemented for a long time now and are expensive and infrequent. We have a large network of inspection service providers globally who own and use our robotic platforms. The mobile robot walks on overhead ground wires in 500kv power tower. Design and validation of a mobile robot for power line. The inspection can be performed with the help of the power operator, or only by our engineers. Robot for inspection of transmission lines nasaads. Within the field of power line inspection, different methods have. Hydroquebec has developed a robot, named linescout, to inspect live transmission lines. After this previous identification, teams are sent to verify, with.
If you need support to find the right robot for your application, we have a team of experienced consultants. Inspections can be preventive, routine, periodic or on an. A mockup of epris underground cable inspection robot with a section of pipe and cables. Electrical power companies usually perform regular visual inspection to check the status of their transmission lines mainly using helicopter equipped with external gimbals housing infrared and ultraviolet camera to detect hot spots and corona discharges. Request pdf expliner robot for inspection of transmission lines the inspection of highvoltage transmission lines is a dangerous and. Keywords mobile robots, inspection robots, transmission lines 1. Pdf the procedure used for inspection and verification of damages in cables is highly dependent on the experience of a skilled technician who, using. This paper describes the first phase in development of a mobile robot that can navigate aerial power transmission lines completely unattended by human operator. Pdf transmission line monitoring system for a power line. The developed system is also applied on power transmission line and verified the efficiency of the robot. Overhead transmission lines are among the electric power utilities most widely dispersed assets. Aerial power transmission lines, inspection, mobile robot, automated operation 1.
Expliner aims to overcome such obstacles by controlling actively the position of its center of mass, thus changing its configuration as needed when moving on the power lines. Overhead transmission inspection and assessment guidelines. Power line robotic device for overhead line inspection and. From the very beginning, the key objective was to design a robust, reliable and field oriented mobile platform that would be applicable to real inspection and maintenance tasks, aligned with power line maintenance teams considerations. The robot adopts a turning around method to get across the component obstacles for the robot installed on the hvptl, and the process of the obstacle negotiation is expressed in detail. He the electric power research institute epri is developing a robotic system for autonomous inspection of overhead transmission lines to.
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