Line inspection robot and system

• US 8,660,698 B2
• Filed: 02/10/2011
• Issued: 02/25/2014
• Est. Priority Date: 02/10/2010
• Status: Active Grant

• Current Assignee: Electric Power Research Institute Incorporated
• Original Assignee: Electric Power Research Institute Incorporated
• Inventors: Phillips, Andrew John, Major, Mark, Bartlett, Glynn R.
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US13/024,527
• Publication Number:
  US 20110196536A1
• Time in Patent Office: 1,111 Days
• Field of Search: 700/259, 901/1, 901/44, 901/47, 104/112, 104/117.1
• US Class Current: 700/259
• CPC Class Codes: H02G 1/02 for overhead lines or cables

Abstract

The present invention relates to an overhead transmission line inspection robot and system for inspecting transmission line components and right of way conditions. The line inspection robot includes at least one drive system for propelling the robot along a line, a platform adapted to pivot relative to the at least one drive system, and a control system adapted to control the robot.

Claims

1. A line inspection robot, comprising:

(a) at least one drive system configured to propel the robot along a line;

(b) a platform configured to pivot relative to the at least one drive system; and

(c) a control system configured to control the robot, the control system having;

(i) weather sensors configured to measure external air temperature, relative humidity, and wind speed;

(ii) an internal robot temperature sensor configured to determine an operating temperature of the robot;

(iii) a DC charge sensor configured to determine when lightning events may occur;

(iv) a 3-D accelerometer configured to measure tilt or vertical inclination of the robot and identify major vibration modes of the shield wire; and

(v) a radio frequency interference sensor configured to provide broadband radio frequency interference detection.

2. The line inspection robot according to claim 1, wherein the at least one drive system includes a plurality of wheels adapted to clamp onto the line and allow the robot to traverse the line.

3. The line inspection robot according to claim 2, wherein the at least one drive system further includes a gearbox for driving the plurality of wheels.

4. The line inspection robot according to claim 2, wherein the plurality of wheels are adapted for movement between an open position for receiving the line and a closed position for securing the line between the plurality of wheels.

5. The line inspection robot according to claim 1, wherein the platform contains the electrical hardware of the control system.

6. A line inspection robot, comprising:

(a) a pair of spaced-apart trucks adapted configured to propel the robot along a shield wire, each of the spaced-apart trucks having a drive system contained therein;

(b) a platform having a first end pivotally connected to a first one of the spaced-apart trucks and a second opposing end pivotally connected to a second one of the spaced-apart trucks to allow the robot to move around turns or up and down grades, wherein the pivotal connections provide the platform with at least two degrees of freedom relative to each of the spaced-apart trucks; and

(c) a control system contained by the platform and configured to control the line inspection robot.

7. The line inspection robot according to claim 6, wherein each of the trucks includes a drive system, the drive system including:

(a) a plurality of wheels for clamping onto the shield wire and allowing the robot to traverse the shield wire; and

(b) a gearbox for driving a portion of the plurality of wheels.

8. The line inspection robot according to claim 7, wherein at least one of the plurality of wheels is mounted to a wheel platform for movement between an open position where a shield wire is received between the plurality of wheels and a closed position where the shield wire is secured between the plurality of wheels.

9. The line inspection robot according to claim 7, wherein the drive system further includes motors operably connected to the plurality of wheels.

10. The line inspection robot according to claim 6, wherein the control system includes a central processor and a microcontroller to fuse data from multiple sensors to increase measurement confidence and to control the robot in response to the data.

11. The line inspection robot according to claim 6, wherein the control system includes:

(a) a plurality of high resolution cameras for inspection of right of way, conductors, insulators, and towers;

(b) a plurality of short-focus cameras for navigation clearance;

(c) a laser rangefinder to scan right of way and transmission line components; and

(d) an acoustic sensor adapted to receive acoustic signals to identify problem conditions and the direction from which the problem conditions derive.

12. The line inspection robot according to claim 6, wherein the control system includes:

(a) weather sensors for measuring external air temperature, relative humidity, and wind speed;

(b) an internal robot temperature sensor for determining an operating temperature of the robot;

(c) a DC charge sensor to determine when lightning events may occur;

(d) a 3-D accelerometer to measure tilt or vertical inclination of the robot and to identify major vibration modes of the shield wire; and

(e) a radio frequency interference sensor to provide broadband radio frequency interference detection.

13. The line inspection robot according to claim 6, wherein the control system includes a wireless sensor reader to read data from distributed sensors placed along transmission lines.

14. The line inspection robot according to claim 6, wherein the control system includes a communications system having a local wireless modem and a satellite wireless modem to transmit and receive data.

15. The line inspection robot according to claim 6, further including a solar panel for harvesting solar energy to charge the robot, the solar panel being positioned on the robot such that rain and gravity wash away debris.

16. The line inspection robot according to claim 6, further including a parking brake to lock wheels of the trucks in position on the shield wire in the event that environmental conditions preclude normal mobility of the robot.

17. The line inspection robot according to claim 7, wherein the gearbox is a two speed gearbox to provide a first gear setting having a low speed/high torque and a second gear setting having a high speed/low torque.

18. A line inspection system, comprising:

(a) a line inspection robot having;

(i) a pair of spaced-apart trucks interconnected by a platform and configured to propel the robot along a shield wire;

(ii) a control system contained by the platform and configured to control the line inspection robot; and

(iii) a wireless sensor reader;

(b) a plurality of sensors positioned along an overhead transmission line, wherein the sensors collect data on the health of the overhead transmission line and its components, and wherein when the robot is in close proximity one of the plurality of sensors, the wireless sensor reader receives data transmitted from the sensor for analysis by the robot.