Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation

Autor: Anibal Ollero, Saeed Rafee Nekoo, Rafael Salmoral, Honorio Romero, José Ángel Acosta, Angel Rodriguez-Castaño
Přispěvatelé: Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
Rok vydání: 2021
Předmět:
Technology
QH301-705.5
Aerial Manipulation
Computer science
QC1-999
high-voltage power lines
020209 energy
Inspection and maintenance
ComputerApplications_COMPUTERSINOTHERSYSTEMS
02 engineering and technology
inspection and maintenance
Arial manipulation
0202 electrical engineering
electronic engineering
information engineering
General Materials Science
Biology (General)
High Voltage Power Lines
Multirotor systems
QD1-999
Instrumentation
Simulation
Fluid Flow and Transfer Processes
Physics
Process Chemistry and Technology
Testbed
Overhead power line
General Engineering
Clip-type bird flight diverters
Engineering (General). Civil engineering (General)
clip-type bird flight diverters
Line (electrical engineering)
Computer Science Applications
Power (physics)
Chemistry
High-voltage power lines
arial manipulation
Control system
Bird flight
Robot
020201 artificial intelligence & image processing
High voltage power lines
TA1-2040
multirotor systems
Zdroj: Applied Sciences
Volume 11
Issue 16
idUS. Depósito de Investigación de la Universidad de Sevilla
instname
Applied Sciences, Vol 11, Iss 7427, p 7427 (2021)
ISSN: 2076-3417
DOI: 10.3390/app11167427
Popis: This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated
however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system
the tests were carried out in an indoor testbed using a power line cable mock-up.
Databáze: OpenAIRE
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