Hostname: page-component-586b7cd67f-tf8b9 Total loading time: 0 Render date: 2024-11-20T07:14:50.090Z Has data issue: false hasContentIssue false
  • English
  • Français

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Published online by Cambridge University Press:  15 December 2020

Wei Jiang Open the ORCID record for Wei Jiang [Opens in a new window] ,
Gao Cheng Ye ,
De Hua Zou  and
Yu Yan
Wei Jiang*
Affiliation:
Wuhan Textile University, Hubei Key Laboratory of Digital Textile Equipment, Wuhan, 430200, China Hubei Provincial Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan Textile University, Wuhan, China
Gao Cheng Ye
Affiliation:
Wuhan Textile University, Hubei Key Laboratory of Digital Textile Equipment, Wuhan, 430200, China
De Hua Zou
Affiliation:
State Grid Hunan Transmission Maintenance Company, Changsha, 410100, China
Yu Yan
Affiliation:
State Grid Hunan Maintenance Company, Changsha 410104, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

High-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which not only has high labor intensity and low work efficiency but also has great personal safety risks. In order to solve such difficult problems, this paper studies the power maintenance robot for insulator string replacement, spacer replacement, damper and drainage plate maintenance; the basic configuration and the operation motion planning have been proposed; and the virtual prototype of the inspection maintenance robots has been developed, and then the mechanical structure of the robots has been optimized by the robot kinematics modeling and analyzed the working space based on the Monte Carlo method. The system platform, operation function, structural characteristics and related key technologies involved in the robot system development were systematically summarized; the deep integration point for the robot technology with big data, cloud computing, artificial intelligence, and ubiquitous power Internet-of-Things technologies was also discussed. Finally, the physical prototype of the insulator replacement, drainage plate tightening, and damper replacement operation robot has been developed; several experimental tests on a 220 V live line have been conducted so as to verify the robot engineering practicality; and the main development and future research direction have also been pointed out at last.

Keywords

High-voltage linePower inspection maintenance robotMechanism configurationPhysical prototypeUbiquitous Power Internet of Things (UPIOT)
Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1251 - 1263
Copyright
© The Author(s), 2020. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Footnotes

**

The original version of this article was published with an affiliation omitted. A notice detailing this has been published and the errors rectified in the online PDF and HTML version.

References

Pouliot, N., Richard, P. L. and Montambault, S., “LineScout technology opens the way to robotic inspection and maintenance of high-voltage power lines,” IEEE Power Energy Technol. Syst. J. 2(1), 1–11 (2015).CrossRefGoogle Scholar
Park, J. Y. and Lee, J. K., “An inspection robot for live-line suspension insulator strings in 345 kV power lines,” IEEE Trans. Power Delivery 27(2), 632–639 (2012).CrossRefGoogle Scholar
Songyi, D., Xuefeng, W., Hang, D. and Tao, W., “Development of a self-balance dual-arm robot for inspection of high-voltage power transmission lines,” In: Mechatronics and Automation (ICMA), (IEEE, 2012) pp 2482–2487.CrossRefGoogle Scholar
Jayatilaka, M., Shanmugavel, M. and Ragavan, S. V., “Robonwire: design and development of a power line inspection robot,” In: Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms, vol. 16, iNaCoMM (2013), pp. 808–815.Google Scholar
Pirbodaghi, S., Thangarajan, D., Liang, T. H., Shanmugavel, M., Ragavan, V. and Sequeira, J. S.. “A cooperative heterogeneous unmanned autonomous systems solution for monitoring and inspecting power distribution system,” In: International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT), (IEEE, 2015) pp. 495–502.CrossRefGoogle Scholar
Takaoka, K., Yokoyama, K., Wakisako, H., et al. “Development of the fully-automatic live-line maintenance robot-Phase III,” In: IEEE International Symposium on Assembly and Task Planning, (IEEE, 2001) pp. 423–428.Google Scholar
Sharkawy, A. N., Koustoumpardis, P. and Aspragathos, N. A., “Neural network design for manipulator collision detection based only on the joint position sensors”, Robotica. 3(2), 1–19 (2019).Google Scholar
Singh, J., Gandhi, K., Kapoor, M., et al. “New approaches for live wire maintenance of transmission lines”, MIT Int. J. Electr. Instrum. Eng. 3(2 August) 67–71 (2013).Google Scholar
Pouliot, N., Mussard, D. and Montambault, S.. “Localization and archiving of inspection data collected on power lines using LineScout technology”, In: Applied Robotics for the Power Industry (CARPI), pp. 197–202 (2012).CrossRefGoogle Scholar
Menendez, O., Cheein, F. A. A., Perez, M. and Kouro, S., “Robotics in power systems: Enabling a more reliable and safe grid[J]”, IEEE Industrial Electronics Magazine 11(2), 22–34 (2017).CrossRefGoogle Scholar
Sharkawy, A. N., Koustoumpardis, P. and Aspragathos, P. N., “Neural network design for manipulator collision detection based only on the joint position sensors”, Robotica. 3(2), 1–19 (2019).Google Scholar
Chithamacharyulu, P. V., Sashanka, D. P. and Kiran, G. U.. “Design of automated hotline maintenance robot using haptic technology”, Int J Sci Res Publ. 4(1), 1–6 (2014).Google Scholar
Shruthi, C. M., Sudheer, A. P. and Joy, M. L.. “Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method[J]”, J. Braz. Soc. Mech. Sci. Eng. 41(6), 245–270 (2019).CrossRefGoogle Scholar
Zhao, T., Chen, Y., Dian, S., Guo, R. and Li, S., “General type-2 Fuzzy gain scheduling PID controller with application to power-line inspection robots [J],” Int. J. Fuzzy Syst. 22(1), 181–200 (2020).CrossRefGoogle Scholar
Lu, S. Y., Ma, Peisun, Qi, Hui, etc. “Development of high voltage live working robot [J],” Power Syst. Autom. 27(17), 56–58 (2003).Google Scholar
Zhao, Y., Li, Y., Qi, H., “Intelligent automated tools of high-voltage live line work [J]”, Manuf. Autom. 20(3), 12–14 (2012).Google Scholar
Song, Y., Hongguang, W., Li, Z., et al., “Design of power robot mechanism for the repair work of broken stocks”, J. Intell. Syst. 12(1), 1–7 (2017).Google Scholar
Song, Y., Wang, H., Wang, H., et al. “Vision based transmission line broken strand detection and robot behaviour planning”, Robot. 37(2), 204–211(2015).Google Scholar
Jiang, W., Wu, G., Fan, F., et al. “Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line[J]”, Int. J. Adv. Rob. Syst. 15(2), 1–12 (2018).Google Scholar
Jiang, W., Zhang, A. and Wu, G., “Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment”, Ind. Rob. Int. J. Rob. Res. Appl. 46(1), 93–103 (2019).CrossRefGoogle Scholar
Ye, X., Wu, G. and Fan, F., “Overhead ground wire detection by fusion global and local features and supervised learning method for a cable inspection robot”, Sens. Rev. 38(3), 376–386 (2018).CrossRefGoogle Scholar
Wu, G., Xiao, X., Xiao, Hua, etc. “Development of an overhead high voltage transmission line patrol robot prototype”, Power Syst. Autom. 30(13), 90–93 (2006).Google Scholar
Wang, M., Wu, G., Fan, F., et al. “Dynamic network topology control of branch-trimming robot for transmission lines[J]”, Electronics. 8(5), 549–552 (2019).CrossRefGoogle Scholar
Debenest, P., Guarnieri, M., Takita, K., Fukushima, E. F., Hirose, S., Tamura, K., Kimura, A., Kubokawa, H., Iwama, N., Shiga, F.. “Expliner-Robot for inspection of transmission lines”, In: IEEE International Conference on Robotics and Automation (ICRA-08, 2008) 3978–3984.CrossRefGoogle Scholar
Yan, Y., Jiang, W., Zhang, A., et al. “Research on configuration design and operation effect evaluation for ultra high voltage (UHV) vertical insulator cleaning robot [J]”, Ind. Rob. Int. J. Rob. Res. Appl. 47(1), 90–101 (2019).CrossRefGoogle Scholar
Qin, X., Wu, G., Lei, J., et al., “A novel method of autonomous inspection for transmission line based on cable inspection robot lidar data[J]”, Sensors. 18(2), 596–608 (2018).CrossRefGoogle Scholar
Fan, F., Wu, G., Wang, M., et al., “Robot delay-tolerant sensor network for overhead transmission line monitoring[J]”, Appl. Sci. 8(6), 847–852 (2018).CrossRefGoogle Scholar
Xu, X. J. and Liu, C.-H., “Modeling and simulation of the magnetic method for high voltage direct current inspection robot”, J Magn. 23(3), 423–435 (2018).CrossRefGoogle Scholar
Li, H. J., Jiang, W., Zou, D., et al., “Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment”, Ind. Rob. Int. J. Rob. Res. Appl. (2020). doi: 10.1108/IR-09-2019-0203.CrossRefGoogle Scholar
Seok, K. H., Kim, Y. S.. “A state of the art of power transmission line maintenance robots [J]”, J. Electr. Eng. Technol. 11(5), 1412–1422 (2016).CrossRefGoogle Scholar
Jalal, M. F. A., Sahari, K. S. M., Fei, H. M., et al., “Design and development of three arms transmission line inspection robot[J]”, J. Rob. Networking Artif. Life. 5(3), 157–160 (2018).CrossRefGoogle Scholar
Alhassan, A. B., Zhang, X., Shen, H., et al., “Power transmission line inspection robots: A review, trends and challenges for future research[J]”, Int. J. Electr. Power Energy Syst. 118, 105862 (2020). doi: 10.1016/j.ijepes.2020.105862.CrossRefGoogle Scholar
Shruthi, C. M., Sudheer, A. P., Joy, M. L., “Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method[J]”, J. Braz. Soc. Mech. Sci. Eng. 41(6), 245–270 (2019).CrossRefGoogle Scholar
Kalani, H., Malayjerdi, M., Dehnavi, M. H., “H2M robot: a new prototype robot for insulation of high voltage transmission[J]”, Int. J. Intell. Rob. Appl. 3(1), 87–98 (2019).CrossRefGoogle Scholar