A Survey of Mobile Robots for Distribution Power Line Inspection

被引：234

作者：

Katrasnik, Jaka ^{[1
]}

Pernus, Franjo ^{[1
]}

Likar, Bostjan ^{[1
]}

机构：

[1] Univ Ljubljana, Fac Elect Engn, Ljubljana 1000, Slovenia

来源：

IEEE TRANSACTIONS ON POWER DELIVERY | 2010年 / 25卷 / 01期

关键词：

Automatic visual inspection; mobile robots; power distribution line inspection; power distribution line maintenance; AERIAL INSPECTION;

D O I：

10.1109/TPWRD.2009.2035427

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：485 / 493

页数：9

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