Content area
Full text
1.
Introduction
Small, semi-autonomous robots benefit distribution line maintenance and inspection processes. Using remotely operated robotic devices alleviates the complexities of line work by allowing technicians to inspect the lines and perform maintenance from a safe distance (Toussaint et al. , 2009). The need for easily installable devices for short time periods is demanding because of power line workers needing to use effective tools for the maintenance of the power line components, including splices and dampers (Aracil et al. , 2002). Within the field of power line inspection, different methods have been used to carry out the line inspection. Although there has been research into the efficacy of manned helicopters and unmanned aerial vehicles, focus here is on climbing robotic devices (Jaensch et al. , 1998; Dong et al. , 2012; Luque-Vega et al. , 2014). Climbing robots use the existing lines for support, traveling down the line while resting on it or clamped or otherwise connected to it. These types of devices provide superior resolution in their inspection methods because of their proximity to the line and more controlled motion. This also allows usage of a wider variety of sensors and other monitoring devices and a possibility for maintenance and repair actions executed by the robotic device itself. Through the inspection and maintenance of overhead power lines with robotic devices, power companies are able to manage their assets with greater efficiency and in ways impossible without the devices.
Work on such devices started over two decades ago, driven by safety factors, access to remote and difficult areas and increased operational efficiency. The robotic devices can be used to evaluate the line for defects such as corrosion, degradation or mechanical damage (Katrasnik et al. , 2010). Specific applications include checking compression splices for mechanical degradation by measuring resistance, detecting corrosion in the steel core of aluminum conductor steel-reinforced cable or using infrared imaging to detect possible defects in power line components (Montambault and Pouliot, 2003; Barbosa and Nallin, 2014). Video and still images collected by line robots of components not visible from the ground can be used to confirm defects detected by other methods. Collecting visual information to evaluate at a safe distance from live lines and archiving the data benefit inspection personnel (Toussaint et...