Transmission Line Maintenance Robots Capable of Crossing Obstacles: State-of-the-Art Review and Challenges Ahead

Kristopher Toussaint; Nicolas Pouliot; Serge Montambault

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Transmission Line Maintenance Robots Capable of Crossing Obstacles: State-of-the-Art Review and Challenges Ahead

机译：能够穿越障碍物的输电线路维护机器人：最新技术回顾和挑战

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Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents a comprehensive review of the state of the art. It focuses on mobile robots designed to cross obstacles found on a typical transmission line while using the conductor as support for traveling. Promising areas of research and development as well as challenges that remain to be solved are discussed with a view to developing fully autonomous technologies. Maintenance tasks, including inspection and repairs, are identified as high-value applications in transmission live-line work. Conclusions are drawn from experience, and the future of mobile robotics applied to transmission line maintenance is discussed.

机译：电力线检查和维护已经受益于移动机器人技术的发展。本文对现有技术进行了全面回顾。它着重于设计为穿越典型传输线上发现的障碍物的移动机器人，同时使用导体作为行驶的支撑。为了开发完全自主的技术，讨论了有希望的研发领域以及尚待解决的挑战。维护任务，包括检查和维修，被确定为传输带电工作中的高价值应用。从经验中得出结论，并讨论了应用于传输线维护的移动机器人技术的未来。

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来源
《Journal of robotic systems》 |2009年第5期|477-499|共23页
作者
Kristopher Toussaint; Nicolas Pouliot; Serge Montambault;
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Department of Mechanical Engineering McGill University 817 Sherbrooke St. West Montreal, QC H3A 2K6, Canada;

Robotics and Civil Engineering Hydro-Quebec IREQ 1740, Boulevard Lionel-Boulet Varennes, QC J3X 1S1, Canada;

Robotics and Civil Engineering Hydro-Quebec IREQ 1740, Boulevard Lionel-Boulet Varennes, QC J3X 1S1, Canada;

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Transmission Line Maintenance Robots Capable of Crossing Obstacles: State-of-the-Art Review and Challenges Ahead

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