In this paper, we design and implement a remote control terminal for the substation operation robot. The general layout and design ideas of the system are analyzed. Experimental results show that the operator can easily control the mobile robot through the remote terminal, the remote terminal system is friendly, the function is reliable, and the function is strong. The next step is to evaluate the operator's operations, mainly focus on improving the portable performance of remote control terminal and pleasant operation to carry out research work. Further modular, lightweight design to improve its portability. At the same time, the operation of the man-machine interface is simpler and clear, easy to use without the experience of the operator, by further simplifying the difficulty of remote control of the robot, so as to improve the safety and reliability of the substation operation robot.
{"title":"The remote control terminal for electric maintenance robot in substation","authors":"Yubing Han, Shi-you Mu, Shou-yin Lu, Zhen-Lin Wang, Jian Li, Jianxiang Li, Jinlong Zhao","doi":"10.1109/CARPI.2016.7745614","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745614","url":null,"abstract":"In this paper, we design and implement a remote control terminal for the substation operation robot. The general layout and design ideas of the system are analyzed. Experimental results show that the operator can easily control the mobile robot through the remote terminal, the remote terminal system is friendly, the function is reliable, and the function is strong. The next step is to evaluate the operator's operations, mainly focus on improving the portable performance of remote control terminal and pleasant operation to carry out research work. Further modular, lightweight design to improve its portability. At the same time, the operation of the man-machine interface is simpler and clear, easy to use without the experience of the operator, by further simplifying the difficulty of remote control of the robot, so as to improve the safety and reliability of the substation operation robot.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130211197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745642
Shiyu Xiao, Hongguang Wang, L. Ling
The slip vibration damper on power transmission lines (PTLs), which is caused by aeolian vibration, material aging and some outside interference, is a serious fault in power grid. The maintenance task, with high working intensity and risk, is generally completed on the high voltage live line by specially trained workers. This paper presents the development of a novel mobile robot aiming at retrieving slip vibration dampers in power grid. The mobile robot with an operation platform can adapt to uncertain postures of the vibration damper, though the posture varies in a random way within a certain range. After approaching the fault location, the robot first disassembles the connection clamps of the loose vibration damper with specialized tools, and then the vibration damper is transported to the original position and assembled by virtue of a lifter and a revolute sleeve barrel. With the consideration of practical application, safety and performance on maintenance, the robot prototype has been developed. The inverse kinematics with geometrical constraints has been deduced. Robot experiments on mock-up lines have been carried out and the results are shown in this paper.
{"title":"Research on a novel maintenance robot for power transmission lines","authors":"Shiyu Xiao, Hongguang Wang, L. Ling","doi":"10.1109/CARPI.2016.7745642","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745642","url":null,"abstract":"The slip vibration damper on power transmission lines (PTLs), which is caused by aeolian vibration, material aging and some outside interference, is a serious fault in power grid. The maintenance task, with high working intensity and risk, is generally completed on the high voltage live line by specially trained workers. This paper presents the development of a novel mobile robot aiming at retrieving slip vibration dampers in power grid. The mobile robot with an operation platform can adapt to uncertain postures of the vibration damper, though the posture varies in a random way within a certain range. After approaching the fault location, the robot first disassembles the connection clamps of the loose vibration damper with specialized tools, and then the vibration damper is transported to the original position and assembled by virtue of a lifter and a revolute sleeve barrel. With the consideration of practical application, safety and performance on maintenance, the robot prototype has been developed. The inverse kinematics with geometrical constraints has been deduced. Robot experiments on mock-up lines have been carried out and the results are shown in this paper.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126557533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745638
Jidai Wang, Xiaochen Liu, Kunpeng Lu, Yi Liu, Jing Zhen
Traditional inspection robot for high voltage transmission line robot is hard to cross the drainage line and other non straight line segment obstacle because of the small operation space. A new bionic structure of the inspection robot is proposed in this paper, which is combined the motion characteristics of primates with the modern design method and the principle of bionics. The mechanism model based on the three arms with symmetrical distributed and its crossing various obstacles on power line simulating to primates suspension pendulum movement are presented. The robot operation of crossing obstacle process is simulated and analyze with ADAMS software, thus the rationality and stability of the bionic mechanism are verified. Finally, the principle model and virtual prototype of robot are manufactured and testing on the practical power line.
{"title":"A new bionic structure of inspection robot for high voltage transmission line","authors":"Jidai Wang, Xiaochen Liu, Kunpeng Lu, Yi Liu, Jing Zhen","doi":"10.1109/CARPI.2016.7745638","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745638","url":null,"abstract":"Traditional inspection robot for high voltage transmission line robot is hard to cross the drainage line and other non straight line segment obstacle because of the small operation space. A new bionic structure of the inspection robot is proposed in this paper, which is combined the motion characteristics of primates with the modern design method and the principle of bionics. The mechanism model based on the three arms with symmetrical distributed and its crossing various obstacles on power line simulating to primates suspension pendulum movement are presented. The robot operation of crossing obstacle process is simulated and analyze with ADAMS software, thus the rationality and stability of the bionic mechanism are verified. Finally, the principle model and virtual prototype of robot are manufactured and testing on the practical power line.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130731474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745643
Liang Zhong, R. Guo, Zhiyong Cheng, Juan Jia, Jun Yong
According to the characteristics of the transmission line, summarize and improve existing solar charging system, we developed an automatic solar charging system which can track the sun active used for transmission lines robot. The system includes solar charging system, automatic tracking solar system, quick connect-separate mechanism. Solar charging system include BOOST circuit, bidirectional BUCK-BOOST converter circuits, etc. We calculate the optimum parameter in inductance, capacitance, and select the appropriate diode and MOSFET. Automatic tracking solar system include automatic tracking solar algorithm, software flow chart, Calculate the required head angle, active alignment sunlight. Quick connect-separate mechanism enables fast connection and disconnection between the robot and the system. The system is designed to reduce the number of workers climbing the tower to replace the battery. Improve work efficiency, thereby improving the performance of the Transmission Line robot.
{"title":"Automatic solar charging system for overhead transmission line robot","authors":"Liang Zhong, R. Guo, Zhiyong Cheng, Juan Jia, Jun Yong","doi":"10.1109/CARPI.2016.7745643","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745643","url":null,"abstract":"According to the characteristics of the transmission line, summarize and improve existing solar charging system, we developed an automatic solar charging system which can track the sun active used for transmission lines robot. The system includes solar charging system, automatic tracking solar system, quick connect-separate mechanism. Solar charging system include BOOST circuit, bidirectional BUCK-BOOST converter circuits, etc. We calculate the optimum parameter in inductance, capacitance, and select the appropriate diode and MOSFET. Automatic tracking solar system include automatic tracking solar algorithm, software flow chart, Calculate the required head angle, active alignment sunlight. Quick connect-separate mechanism enables fast connection and disconnection between the robot and the system. The system is designed to reduce the number of workers climbing the tower to replace the battery. Improve work efficiency, thereby improving the performance of the Transmission Line robot.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127881973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, A test bench system used in the test of UAV is put forward. The system is consisted of four parts which includes bearing part of UAV, ground support position, transmission mechanism and measuring weight parts. Bearing part of UAV is used for placing the object to be measured which is connected to one end of the drive mechanism through the connecting shaft, The other end of the drive mechanism is provided with a measuring weight part which is provided with a mass block, the drive mechanism is provided with a ground support seat. 3D model of all parts are built by proe, the virtual prototype and simulation model are established by ADAMS, the kinematics simulation is carried out, and the movement characteristics of each part are analyzed, and the simulation test results of the trajectory and the displacement curve are obtained. machining prototype is machined, result is got through experimental and theoretical data collation, which is accordant with theoretical analysis.
{"title":"Platform design and test analysis for UAV flight inspection and testing","authors":"Fei Zhang, Mengchao Fu, Liang Liu, Chuanhu Wei, Chaoyuan Yin","doi":"10.1109/CARPI.2016.7745627","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745627","url":null,"abstract":"In this paper, A test bench system used in the test of UAV is put forward. The system is consisted of four parts which includes bearing part of UAV, ground support position, transmission mechanism and measuring weight parts. Bearing part of UAV is used for placing the object to be measured which is connected to one end of the drive mechanism through the connecting shaft, The other end of the drive mechanism is provided with a measuring weight part which is provided with a mass block, the drive mechanism is provided with a ground support seat. 3D model of all parts are built by proe, the virtual prototype and simulation model are established by ADAMS, the kinematics simulation is carried out, and the movement characteristics of each part are analyzed, and the simulation test results of the trajectory and the displacement curve are obtained. machining prototype is machined, result is got through experimental and theoretical data collation, which is accordant with theoretical analysis.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129034573","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745641
Zhiyong Cheng, Juan Jia, Liang Zhong, R. Guo, Chunlei Han, Richeng Zhu
Traditionally, insulator was cleaned manually which is high-risk, labor-intensive and low efficiency. In addition, it is impact of supply to clean insulator manually. Aim of solving the problem upon, a robot was designed for cleaning insulator which can make the clean work consistent and more reliable, and it can be operated at the highest voltage level of 345kV live-line. In this paper, mechanical structure and control system are shown. Finally, we conducted a lot of experiments, and adjust the parameters of the robot repeatedly to ensure the robot can work in the best condition.
{"title":"Development of insulator cleaning robot","authors":"Zhiyong Cheng, Juan Jia, Liang Zhong, R. Guo, Chunlei Han, Richeng Zhu","doi":"10.1109/CARPI.2016.7745641","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745641","url":null,"abstract":"Traditionally, insulator was cleaned manually which is high-risk, labor-intensive and low efficiency. In addition, it is impact of supply to clean insulator manually. Aim of solving the problem upon, a robot was designed for cleaning insulator which can make the clean work consistent and more reliable, and it can be operated at the highest voltage level of 345kV live-line. In this paper, mechanical structure and control system are shown. Finally, we conducted a lot of experiments, and adjust the parameters of the robot repeatedly to ensure the robot can work in the best condition.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"780 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116963650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper mainly introduced the research status of hydraulic wrench, the current hydraulic wrench is not suitable for single manual operation, it was mainly used to remove large size bolt, such as above M20. In order to adapt to the demands of the market development, and meet the requirements that one person can conveniently operate on some equipment, the small-sized hydraulic wrench was designed by us through the combinations of “hydraulic motor + reducer + impactor” in this paper. As the emergence of the small-sized hydraulic wrench, which can reduce the workers labor intensity and improve the work efficiency.
{"title":"Design of the small-sized hydraulic wrench","authors":"Shangwei Yang, Zhigang Ren, Haipeng Wang, Mengchao Fu, Yongxing Hao","doi":"10.1109/CARPI.2016.7745650","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745650","url":null,"abstract":"This paper mainly introduced the research status of hydraulic wrench, the current hydraulic wrench is not suitable for single manual operation, it was mainly used to remove large size bolt, such as above M20. In order to adapt to the demands of the market development, and meet the requirements that one person can conveniently operate on some equipment, the small-sized hydraulic wrench was designed by us through the combinations of “hydraulic motor + reducer + impactor” in this paper. As the emergence of the small-sized hydraulic wrench, which can reduce the workers labor intensity and improve the work efficiency.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125809135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745619
Haipeng Wang, Zhigang Ren, Jianxiang Li, L. Juntao, Guowen Tang
The obstacle avoidance system is an important part of the intelligent inspection robot. An acquisition system of multi-ultrasonic sensors based on substation inspection robot is developed according to the special environmental requirements. The system selects integrated ultrasonic sensor, takes MCU as controller, designs the ultrasonic transmitting and receiving circuit, completes IPC of robot communication, and completes corresponding software program. In consideration of the substation's effect of EMI to the electronic equipment, when designing circuit, using a large of filter circuit, improve system's anti-interference performance, realize real-time and veracity of measurement. Using on substation shows that the system run steadily, have high measurement precision, it's important for improving the robot using on substation.
{"title":"Ultrasonic detection device design based on substation intelligent inspection robot","authors":"Haipeng Wang, Zhigang Ren, Jianxiang Li, L. Juntao, Guowen Tang","doi":"10.1109/CARPI.2016.7745619","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745619","url":null,"abstract":"The obstacle avoidance system is an important part of the intelligent inspection robot. An acquisition system of multi-ultrasonic sensors based on substation inspection robot is developed according to the special environmental requirements. The system selects integrated ultrasonic sensor, takes MCU as controller, designs the ultrasonic transmitting and receiving circuit, completes IPC of robot communication, and completes corresponding software program. In consideration of the substation's effect of EMI to the electronic equipment, when designing circuit, using a large of filter circuit, improve system's anti-interference performance, realize real-time and veracity of measurement. Using on substation shows that the system run steadily, have high measurement precision, it's important for improving the robot using on substation.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128897292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745633
F. Mirallès, Chen Xu, D. Laurendeau
A parallel implementation of a surface reconstruction algorithm is presented. This algorithm uses the vector field surface representation and was adapted in a previous work by the authors to handle large scale environment reconstruction. Two parallel implementations with different memory requirements and processing speeds are described and compared. These parallel implementations increase the vector field computation speed by a factor of up to 31 times relative to a purely serial implementation. The method is demonstrated on different datasets captured on the sites of Hydro-Quebec using a variety of sensors: LiDAR, sonar and the WireScan, an underwater laser scanner designed at our laboratory.
{"title":"Out-of-core GPU accelerated surface reconstruction for large industrial environment monitoring","authors":"F. Mirallès, Chen Xu, D. Laurendeau","doi":"10.1109/CARPI.2016.7745633","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745633","url":null,"abstract":"A parallel implementation of a surface reconstruction algorithm is presented. This algorithm uses the vector field surface representation and was adapted in a previous work by the authors to handle large scale environment reconstruction. Two parallel implementations with different memory requirements and processing speeds are described and compared. These parallel implementations increase the vector field computation speed by a factor of up to 31 times relative to a purely serial implementation. The method is demonstrated on different datasets captured on the sites of Hydro-Quebec using a variety of sensors: LiDAR, sonar and the WireScan, an underwater laser scanner designed at our laboratory.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134166044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The Paper propose a processing method for LiDAR data in power line inspection tour. The classification of the point cloud with the data feature in the patrol is the first step. On this basis, using the geometric information of different types of point cloud in feature extraction and statistical analysis to obtain the cross-cutting and security risks information which is required by the power line patrol. Tests show that the method can effectively evaluate the security status of the transmission line.
{"title":"A processing method for LiDAR data of power line patrol","authors":"Xinqiao Wu, Zhengliang Yan, Ping Wang, Xiao Chen, Xiaojie Wu, Junbo Huang","doi":"10.1109/CARPI.2016.7745646","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745646","url":null,"abstract":"The Paper propose a processing method for LiDAR data in power line inspection tour. The classification of the point cloud with the data feature in the patrol is the first step. On this basis, using the geometric information of different types of point cloud in feature extraction and statistical analysis to obtain the cross-cutting and security risks information which is required by the power line patrol. Tests show that the method can effectively evaluate the security status of the transmission line.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132999655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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