A Survey of Mobile Robots for Distribution Power Line Inspection
A Survey of Mobile Robots for Distribution Power Line Inspection
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DOI：
10.1109/tpwrd.2009.2035427
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发表时间：
2010-01-01
影响因子：
4.4
通讯作者：
Likar, Bostjan
中科院分区：
文献类型：
--
作者：
Katrasnik, Jaka;Pernus, Franjo;Likar, Bostjan
本文旨在介绍移动的机器人在配电线路巡检领域的最重要成果。由于需要快速、准确、安全和低成本的电力线路检测，这将提高电力输送的质量，自动化电力线路检测领域在过去十年中得到了快速发展。本文论述了自动直升机检测，飞行机器人检测和检测与攀爬机器人。自动化电力线检查的第一次尝试是在直升机检查领域进行的。然而，近年来的研究主要集中在飞行和攀爬机器人上。这两种类型的机器人进行了严格的评估，根据四个重要特征：设计要求，检查质量，自主性和通用性的检查。此外，还提出了巡检机器人的一些尚未确定的问题和任务，这些问题和任务在未来应该得到解决。总之，这两种机器人类型具有特定的优点和缺点，因此目前没有一种可以被认为是普遍有利的。
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.