The present invention relates to a diverter system to allow a line inspection robot to traverse an object. The diverter system includes a first diverter attached to a shield wire, a second diverter attached to the shield wire at a position spaced from the first diverter, and a bridge having a first end connected to the first diverter and a second end connected to the second diverter. The first diverter disengages the robot from the shield wire and onto the bridge and the second diverter disengages the robot from the bridge and onto the shield wire to allow the robot to traverse the object.

Line inspection robot and system

Power transmission line inspection robots: A review, trends and challenges for future research

Historically, the inspection and maintenance of high-voltage power lines have been performed by linemen using various traditional means. In recent years, the use of robots appeared as a new and complementary method of performing such tasks, as several initiatives have been explored around the world. Among them is the teleoperated robotic platform called LineScout Technology, developed by Hydro-Quebec, which has the capacity to clear most obstacles found on the grid. Since its 2006 introduction in the operations, it is considered by many utilities as the pioneer project in the domain. This paper’s purpose is to present the mobile platform design and its main mechatronics subsystems to support a comprehensive description of the main functions and application modules it offers. This includes sensors and a compact modular arm equipped with tools to repair cables and broken conductor strands. This system has now been used on many occasions to assess the condition of power line infrastructure and some results are presented. Finally, future developments and potential technologies roadmap are briefly discussed.

LineScout Technology Opens the Way to Robotic Inspection and Maintenance of High-Voltage Power Lines

Condition assessments for power transmission line infrastructure and conductors are essential to maintain a reliable and efficient system LineScout is a high-performance robot designed to undertake detailed, comprehensive inspections of transmission lines, which contributes to maintaining the integrity of equipment and the safety of inspection crews This paper outlines Hydro-Quebec's LineScout Technology, describing briefly the main systems and key design issues and discussing the technology's impact and benefits on power transmission line inspection and maintenance practices The paper then focuses on field results gathered over the past 2 years with LineScout Technology Very important lessons were learned from more than 20 field deployments of the robot on live transmission lines An appreciable amount of significant feedback came from these field visits and was decisive in improving the technology Specifically, transportation and installation methods and onboard energy management strategy are presented Also discussed, for the first time, is a simplified wheel contact radius estimate, useful for improving the wheel odometer readings Finally, one field deployment on a large water crossing transmission line is presented in detail The paper discusses the importance of the work done and of newly implemented features in terms of the quality and efficiency of inspections, the reliability of systems, and the safe operation of the technology © 2011 Wiley Periodicals, Inc

Field‐oriented developments for LineScout Technology and its deployment on large water crossing transmission lines

This paper dealt with a state-of-the-art maintenance robots for power transmission lines (PTL). The paper summarized the PTL maintenance robots that have been developed by eight major research institutions. The main features of the robot navigation were derived and classified through analysis of researches conducted by those institutions. The derived six main features were analyzed quantitatively and qualitatively through readiness level assessment. For this, system readiness level (SRL) was used to evaluate the readiness level of overall system. The SRL was obtained using technology readiness level (TRL) and integration readiness level (IRL). In addition, the readiness level for each feature was reviewed through statistical analysis using box and whisker plot. In conclusion, we confirmed the status and direction of research and development on PTL maintenance robots by analyzing conventional robots with respect to six main features.

https://www.koreascience.or.kr:443/article/JAKO201635551194099.pdf

A State of the Art of Power Transmission Line Maintenance Robots

The invention concerns a remote-controlled vehicle designed to be mounted on a support and capable of clearing an obstacle on the support. The vehicle comprises first and second mobile frames. At least one articulated arm is mounted mobile on the first frame and a wheel is mounted on the articulated arm to maintain the vehicle on the support. A fastening means co-operates with the wheel and is adapted to retain the wheel on the support. At least one temporary support arm is mounted mobile on the second frame. The temporary support arm comprises retaining means for maintaining the vehicle on the support. The vehicle comprises motor means connected between the frames and the arms for moving same with respect to one another so as to clear an obstacle encountered on the support.

Remote-controlled vehicle designed to be mounted on a support and capable of clearing an obstacle

Power line inspection and maintenance is a slowly but surely emerging field for robotics. This paper describes the control scheme implemented in LineScout technology, one of the first teleoperated obstacle crossing systems that has progressed to the stage of actually performing very-high-voltage power line jobs. Following a brief overview of the hardware and software architecture, key challenges associated with the objectives of achieving reliability, robustness and ease of operation are presented. The coordinated control through visual feedback of all motors needed for obstacle crossing calls for a coherent strategy, an effective graphical user interface and rules to ensure safe, predictable operation. Other features such as automatic weight balancing are introduced to lighten the workload and let the operator concentrate on inspecting power line components. Open architecture was considered for progressive improvements. The features required to succeed in making power line robots fully autonomous are also discussed.

Pierre Latulippe

Papers

Remote-controlled vehicle designed to be mounted on a support and capable of clearing an obstacle

Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance

Compact inspection and intervention vehicle that moves on a cable and can cross major obstacles