Abstract
Preventive maintenance of high-voltage transmission power lines is a dangerous task, but the obstacles mounted on the lines have so far prevented the automation of this task. 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. This work presents the design of Expliner and results of field experiments performed with very high voltages to prove the effectiveness of the proposed concept.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Andersson, G., et al.: Causes of the 2003 major grid blackouts in North America and Europe, and recommended means to improve system dynamic performance. IEEE Trans. Power Systems 20(4), 1922–1928 (2005)
Ishino, R., Tsutsumi, F.: Detection System of Damaged Cables Using Video Obtained from an Aerial Inspection of Transmission Lines. In: IEEE Power Engineering Society General Meeting, vol. 2, pp. 1857–1862 (2004)
Golightly, I., Jones, D.: Visual control of an unmanned aerial vehicle for power line inspection. In: Proc. IEEE Int’l. Conference on Advanced Robotics, pp. 288–295 (2005)
Harano, H., Syutou, K., Ikesue, T., Kawabe, S.: The development of the Manipulator method for 20kV class overhead distribution system. In: Transmission and Distribution Conference and Exhibition, vol. 6, pp. 2112–2116 (2002)
Campos, M.F.M., et al.: A mobile manipulator for installation and removal of aircraft warning spheres on aerial power transmission lines. In: Proc. IEEE Int’l Conf. on Robotics & Automation, Washington D.C., USA, pp. 3559–3564 (2002)
Sawada, J., Kusumoto, K., Munakata, T., Maikawa, Y., Ishikawa, Y.: A Mobile Robot for Inspection of Power Transmission Lines. IEEE Trans. on Power Delivery 6(1), 309–315 (1991)
Tang, L., Fu, S., Fang, L., Wang, H.: Obstacle-navigation strategy of a wire-suspend robot for power transmission lines. In: Proc. IEEE Int’l Conf. on Robotics and Biomimetics, Shenyang, China, pp. 82–87 (2004)
Zhu, X., Wang, H., Fang, L., Zhao, M., Zhou, J.: Dual Arms Running Control Method of Inspection Robot Based on Obliquitous Sensor. In: Proc. 2006 IEEE/RSJ Int’l Conference on Intelligent Robot and Systems, Beijing, China, pp. 5273–5278 (2006)
Montambault, S., Pouliot, N.: The HQ LineROVer: Contributing to Innovation in Transmission Line Maintenance. In: Proc. IEEE 10th Int’l Conf. on Transmission and Distribution Construction, Operation and Live-Line Maintenance, pp. 33–40 (2003)
Montambault, S., Pouliot, N.: Geometric design of the LineScout, a teleoperated robot for power line inspection and maintenance. In: Proc. 2008 IEEE Intl’ Conf. on Robotics & Automation, pp. 3970–3977 (2008)
Debenest, P., et al.: Expliner – Robot for Inspection of Transmission Lines. In: Proc. 2008 IEEE Intl’ Conf. on Robotics & Automation, pp. 3978–3984 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Debenest, P. et al. (2010). Expliner – Toward a Practical Robot for Inspection of High-Voltage Lines. In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_5
Download citation
DOI: https://doi.org/10.1007/978-3-642-13408-1_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13407-4
Online ISBN: 978-3-642-13408-1
eBook Packages: EngineeringEngineering (R0)