To secure uninterrupted distribution of electricity, effective monitoring and maintenance of power lines are needed This literature review article aims to give a wide overview of the possibilities provided by modern remote sensing sensors in power line corridor surveys and to discuss the potential and limitations of different approaches Monitoring of both power line components and vegetation around them is included Remotely sensed data sources discussed in the review include synthetic aperture radar (SAR) images, optical satellite and aerial images, thermal images, airborne laser scanner (ALS) data, land-based mobile mapping data, and unmanned aerial vehicle (UAV) data The review shows that most previous studies have concentrated on the mapping and analysis of network components In particular, automated extraction of power line conductors has achieved much attention, and promising results have been reported For example, accuracy levels above 90% have been presented for the extraction of conductors from ALS data or aerial images However, in many studies datasets have been small and numerical quality analyses have been omitted Mapping of vegetation near power lines has been a less common research topic than mapping of the components, but several studies have also been carried out in this field, especially using optical aerial and satellite images Based on the review we conclude that in future research more attention should be given to an integrated use of various data sources to benefit from the various techniques in an optimal way Knowledge in related fields, such as vegetation monitoring from ALS, SAR and optical image data should be better exploited to develop useful monitoring approaches Special attention should be given to rapidly developing remote sensing techniques such as UAVs and laser scanning from airborne and land-based platforms To demonstrate and verify the capabilities of automated monitoring approaches, large tests in various environments and practical monitoring conditions are needed These should include careful quality analyses and comparisons between different data sources, methods and individual algorithms

https://cyberleninka.org/article/n/613852.pdf

Remote sensing methods for power line corridor surveys

The purpose of this paper is to present the most important achievements in the field of distribution power line inspection by mobile robots. Stimulated by the need for fast, accurate, safe and low-cost power line inspection, which would increase the quality of power delivery, the field of automated power line inspection has witnessed rapid development over the last decade. This paper addresses automated helicopter inspection, inspection with flying robots and inspection with climbing robots. The first attempts to automate power line inspection were conducted in the field of helicopter inspection. In recent years, however, the research was mostly focused on flying and climbing robots. These two types of robots for automated power line inspection are critically assessed according to four important characteristics: design requirements, inspection quality, autonomy and universality of inspection. Besides, some general not yet identified problems and tasks of inspection robots, which should be addressed in the future, are presented. In conclusion, the two robot types have specific benefits and drawbacks so that none can currently be considered generally advantageous.

A Survey of Mobile Robots for Distribution Power Line Inspection

The inspection of high-voltage transmission lines is a dangerous and time-consuming job, that relies on especially trained workers operating tens of meters above the ground, and close to live lines with thousands of volts. This paper presents the development of a tele-operated robot designed for preventive maintenance of high-voltage lines. The robot was designed with mobility in mind, so that cable spacers, suspension clamps and other obstacles, which so far have prevented the use of robots for inspection of high-voltage lines, would not hamper the operation of the machine. After careful considerations on mobility, the robot was designed, and a prototype was built. Results of tests, performed on facilities reproducing real field conditions, are also presented in this paper.

Expliner - Robot for inspection of transmission lines

Power line inspection is of the utmost importance for the reliability and stability of electric power distribution. However, manual inspection is a hazardous, slow, expensive and unreliable task. Therefore, new highly specialized robots are required to improve the overall quality and safety of the power line inspection. The research conducted so far has been mainly focused on the development of climbing and flying robots. This paper first addresses the main achievements in the field of robotic power line inspection. The proposed solutions are critically assessed and the associated problems are outlined. Based on these findings, a new concept for robot-assisted power line inspection, combining both climbing and flying principles, is proposed in the second part of the paper. The proposed concept is critically assessed and related to the other established concepts so as to demonstrate its advantages and feasibility for a routine power line inspection.

New Robot for Power Line Inspection

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. © 2009 Wiley Periodicals, Inc.

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

This paper presents a running and obstacle-navigation control principle for an inspection robot, and describes the development of control system based on a distributed expert system (DES) and electromagnetic shielding of control system. The inspection robot can run on the overhead ground wires and navigate obstacles (counterweights, clamps and towers) autonomously, and inspect the damage of 500KV extra-high voltage power transmission line equipment (towers, power transmission lines, insulators). The field experiments of running on a real 500KV power transmission line show the robot control system has possessed main functions for inspection tasks.

Development of an inspection robot control system for 500KV extra-high voltage power transmission lines

This paper presents an obstacle navigation strategy for a wire-suspend robot for power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle navigation control are analyzed in detail. A realtime expert system with hybrid architecture C language integrated production system (CLIPS) is described as the mobile robot control system. The realtime expert system is developed by CLIPS and C language, so it has powerful logical reasoning ability and data processing ability. And the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires. A realtime process and a conflict elimination algorithm realize the realtime ability of the control system. The robot task plan has two modes: layered plan and direct control. The robot can study online or offline, and when it encounter the same obstacles, it can navigate them quickly

Obstacle-navigation strategy of a wire-suspend robot for power transmission lines

This paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle-navigation control are analyzed in detail. This paper presents to develop robot expert system using hybrid programming of C language integrated production system (CLIPS) and C language, and the robot expert system has powerful logical reasoning ability and data processing ability. The robot control modes have layered planning and direct control. This paper describes the robot expert system with hybrid architecture and analyzed decision-making of obstacle-navigation in layered planning mode in detail. The robot can learn online or offline, and when it encounter the same obstacles, it can navigate them quickly. Obstacle-navigation control is the difficult point of the type of wire-suspended robot and the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires.

Obstacle-navigation control for a mobile robot suspended on overhead ground wires

The design and implementation method of a mobile robot control system for extra-high voltage power transmission line inspection is given Based on the robot task, a kind of obstacle-navigation control method is presented which takes the information of sensors and constraints and the feedback of movement as input and the production system as output The simulation results show that the method is effective to fulfil the robot obstacle-navigation task

On Obstacle-navigation Control of Inspection Robot for the Extra-high Voltage Power Transmission Lines

In this paper, the mechanical configuration and the principle of the measurement for a Stewart platform-based multicomponent force/torque sensor is introduced. A novel calibration method for geometric parameters is presented, which is to connect a fixed base to the top platform using one link in turn and measure the poses of the top platform. According to the poses measured on the coordinate measuring machine (CMM), the geometric parameters of the multicomponent force/torque sensor can be calculated separately. The inverse and forward kinematic model has been formulated to optimize the geometric parameters and compute the resulting forces of the multicomponent force/torque sensor. Several experiments have been carried out and the results prove that the calibration method is correct and valid

Identification of Parameters for a Stewart Platform-based Force/Torque Sensor

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