Development of an intelligent-based telemetry hexapod robotic system for surveillance of power system components

Abstract

A robot is an artificial system that performs specific programmed tasks to aid day-to-day human activities. Robot finds applications in industries for large-scale production, healthcare for computer-aided surgeries, security for surveillance of electrical power system equipment, and the military for carrying out dangerous reconnaissance. Most robotic systems employed for different operations use a wheeled mode of locomotion which has limitations over rough terrains and the issue of communication setup of the system. This work developed a hexapod, a six-legged robotic system, to overcome these identified challenges. The robot was developed in tandem with a telemetry system for surveillance. Although, automating the surveillance process using robotic systems has been in the works for some time. However, this work developed a telemetry hexapod robotic system for enhanced surveillance for the security of power systems equipment and other critical infrastructures using a Raspberry Pi for fast, secure data transmission, and precise system synchronization. An inverse kinematics approach was used to determine joint configurations for better positions of each endpoint. A digital camera was integrated into the robot to relay real-time images of adversaries of power system components intelligently. In addition, the system incorporates data processing capability. In the result obtained, the developed telemetry hexapod robotic system receives instructions over a distance slightly above 300 m. It establishes effective control of the telemetry system without any hindrance of a limited range as observed in Bluetooth-controlled systems. The system's performance includes an average efficiency of 98.2 %, latency of 0.48 s at the peak distance, and an endurance of 4 h. Further analysis of the system shows that the corresponding increase in the latency with the distance is negligible. The system performed better than other related systems considered in the literature. The correct implementation of the developed telemetry hexapod robotic system further enhances mobility, stability in rough terrain, reliable communication system. Also, it brings about a notable reduction in component theft in electrical power systems.