Line inspection robot and system

• US 8,666,553 B2
• Filed: 02/10/2011
• Issued: 03/04/2014
• 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, J. Mark, Bartlett, Glynn R.
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US13/024,520
• Publication Number:
  US 20110196535A1
• Time in Patent Office: 1,118 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: B60K 16/00 Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind electric propulsion with power supply from forces of nature, e.g. sun or wind B60L8/00; marine propulsion by wind motors driving water-engaging propulsive elements B63H13/00; wind motors specially adapted for installation on vehicles F03D9/32
• CPC Class Codes: B60K 2016/003 solar power driven
• CPC Class Codes: H02G 1/02 for overhead lines or cables
• CPC Class Codes: Y02T 10/90 Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof

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 overhead transmission line inspection robot includes a communications and control system adapted to control the robot and transmit information and a drive system for propelling the robot along a shield wire to enable inspection over a large area. The robot further includes a camera adapted to inspect right of way and component conditions; a light detection and ranging (LiDar) sensor adapted to measure conductor position, vegetation, and nearby structures; and a global positioning system adapted to identify the robot'"'"'s position and speed.

Claims

1. An overhead transmission line inspection robot, comprising:

(a) a communications and control system configured to control the robot and transmit information;

(b) a drive system configured to propel the robot along a shield wire to enable inspection over a large area, the drive system having;

(i) a center guide configured to ride along a top of the shield wire; and

(ii) a plurality of wheels pivotally connected to the center guide and configured to ride along opposing sides of the shield wire, each of the plurality of wheels being pivotally connected to the center guide by an arm, wherein the arm is configured to enable independent operation of each of the wheels and allow each wheel to move inwardly towards or outwardly away from a centerline of the shield wire;

(c) a camera configured to inspect right of way and component conditions;

(d) a light detection and ranging sensor configured to measure conductor position, vegetation, and nearby structures; and

(e) a global positioning system configured to identify the robot'"'"'s position and speed.

2. The overhead transmission line inspection robot according to claim 1, further including a sensor reading system to collect data from remote sensors deployed at various locations.

3. The overhead transmission line inspection robot according to claim 1, further including an electromagnetic interference detection system to identify nearby corona or arcing discharge activity.

4. The overhead transmission line inspection robot according to claim 1, wherein each of the plurality of wheels are spring-loaded to bias the wheels towards engagement with opposing sides of the shield wire.

5. The overhead transmission line inspection robot according to claim 1, further including a solar panel for harvesting energy and recharging the robot.

6. An overhead transmission line inspection system, comprising:

(a) a line inspection robot, having;

(i) a communications and control system configured to control the robot and transmit information;

(ii) a drive system configured to propel the robot along a shield wire and enable inspection over a large area, the drive system having a plurality of spring-loaded wheels pivotally connected to a center guide, each of the wheels being independently connected to the center guide to enable independent operation of each of the wheels; and

(iii) an inspection system configured to inspect right of way and component conditions;

(b) a diverter system installed on support structures configured to allow the robot to traverse the structures, the diverter system having a plurality of track supports configured to allow the robot to disengage the shield wire, traverse the structure, and reengage the shield wire, wherein when the robot engages the diverter system, each of the wheels disengages the shield wire to allow the robot to be transferred onto the diverter system, as the robot progresses onto the diverter system, the drive system expands such that a first set of the plurality of wheels ride along an outer most track and a second set of the plurality of wheels ride along an inner most track while the center guide rides along a center track of the diverter system.

7. The overhead transmission line inspection system according to claim 6, wherein the track supports merge together at opposing ends of the diverter system to allow connection to the shield wire at each of the opposing ends and allow the robot to disengage and reengage the shield wire.

8. The overhead transmission line inspection system according to claim 6, wherein the inspection system includes:

(a) a camera adapted to inspect right of way and component conditions; and

(b) a light detection ranging sensor adapted to measure conductor position, vegetation, and nearby structures.

9. The overhead transmission line inspection system according to claim 6, wherein when the robot disengages the diverter system and reengages the shield wire, the drive system contracts such that the first set of wheels, second set of wheels, and center guide ride along the shield wire.

10. An overhead transmission line inspection system, comprising:

(a) a line inspection robot configured to inspect an overhead transmission line and having a drive system configured to propel the robot along a shield wire and enable inspection over a large area, the drive system including;

(i) a center guide configured to ride along a top of the shield wire; and

(ii) a plurality of wheels pivotally connected to the center guide and configured to ride along opposing sides of the shield wire, each of the plurality of wheels being pivotally connected to the center guide by an arm, wherein the arm is configured to enable independent operation of each of the wheels and allow each wheel to move inwardly towards or outwardly away from a centerline of the shield wire; and

(b) a plurality of sensors positioned along the 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 to one of the plurality of sensors, the sensor transmits the data to the robot for analysis.

11. The overhead transmission line inspection system according to claim 10, wherein the robot includes a sensor reading system to collect the data being transmitted by the sensors.

12. The overhead transmission line inspection system according to claim 10, wherein the robot includes a communications system to transmit the collected data to a systems operator.

13. The overhead transmission line inspection system according to claim 10, wherein the robot includes a global positioning system to identify the robot'"'"'s location and thereby the location of the sensor that is transmitting the data to allow operators to locate problem areas.