Pole type robot for distribution power line inspection

摘要

The inspection of overhead distribution power lines involves high risk of accidents, leading to a time consuming and costly operation which demands strict standardized procedures. Current inspection techniques are either performed from ground level giving the operator a limited view of components, or by the use of ladders which is also a risk task. In recent years, the use of mobile robots for automated power line inspection has been proposed. However, the difficulties in controlling them and the lack of standardization of the distribution network, hinder the practical use of such approaches. In this sense, a lightweight, portable, and flexible robotic manipulator, made of insulated material is proposed. Design requirements that come from the service environment demand the capability of reaching over 9-meter heights for positioning the measurement system in high positions. Using the proposed robot, the operator is able to perform inspection from ground level, thereby increasing efficiency and safety. In addition, this paper presents a prototype of the developed robot and experimental results indicating the viability of the strategy.