The Design and Application of a Track-type Autonomous Inspection Robot for Electrical Distribution Room

Robotica ◽  
2019 ◽  
Vol 38 (2) ◽  
pp. 185-206
Author(s):  
Min Cheng ◽  
Dao Xiang
Keyword(s):  
Electric Power Industry ◽  
Robotic System ◽  
Inspection Time ◽  
Technical Solution ◽  
Inspection Method ◽  
Inspection Robot ◽  
Intelligent Software ◽  
Electrical Distribution ◽  
Inspection Robots ◽  
Autonomous Inspection

SummaryElectrical distribution equipment inspection is crucial for the electric power industry. With the rapid increase in the number of electrical distribution rooms, an unattended inspection method, for example, autonomous inspection robot, is eagerly desired by the industry to make up for the deficiencies of traditional manual inspection in effectiveness and validity. Existing inspection robots designed for indoor substations are generally lack of practicality, due to the factors such as inspection requirements and robot weight. To bridge the gap between prototype and practicality, in this work, we design the first completely autonomous robotic system, LongSword, which provides a satisfying technical solution for equipment inspection with an optical zoom camera, a thermal imaging camera or a partial discharge detector. Firstly, we design a novel and flexible hardware architecture which allows the robot to move, lift, and rotate in the station to reach any desired position. Secondly, we develop an intelligent software framework which consists of several modules to achieve accurate equipment recognition and reliable failure diagnosis. Thirdly, we achieve an apposite integration of the existing technologies to implement an applicable robotic system that can fulfill the requirements of indoor equipment inspection. There are over 200 LongSwords currently serving about 160 electrical distribution rooms, some of which have been working for more than 1 year. The average precision of device status recognition is up to 99.70%, and the average inspection time of a single device is as short as 13.5 s. The feedback from workers shows that LongSword can significantly improve the efficiency and reliability of equipment inspection, which accelerates the process of setting up unmanned stations.

scholarly journals In-Plane Heatwave Thermography as Digital Inspection Technique for Fasteners in Aircraft Fuselage Panels

2020 ◽  
Vol 11 (1) ◽  
pp. 132
Author(s):  
Michael Stamm ◽  
Peter Krüger ◽  
Helge Pfeiffer ◽  
Bernd Köhler ◽  
Johan Reynaert ◽  
...  
Keyword(s):  
Inspection Time ◽  
Scanning Laser ◽  
Aviation Industry ◽  
Automated Inspection ◽  
Comparison Study ◽  
Laser Doppler Vibrometry ◽  
Inspection Method ◽  
Aircraft Fuselage ◽  
Temporal Tracking ◽  
Lock In

The inspection of fasteners in aluminium joints in the aviation industry is a time consuming and costly but mandatory task. Until today, the manual procedure with the bare eye does not allow the temporal tracking of a damaging behavior or the objective comparison between different inspections. A digital inspection method addresses both aspects while resulting in a significant inspection time reduction. The purpose of this work is to develop a digital and automated inspection method based on In-plane Heatwave Thermography and the analysis of the disturbances due to thermal irregularities in the plate-like structure. For this, a comparison study with Ultrasound Lock-in Thermography and Scanning Laser Doppler Vibrometry as well as a benchmarking of all three methods on one serviceable aircraft fuselage panel is performed. The presented data confirm the feasibility to detect and to qualify countersunk rivets and screws in aluminium aircraft fuselage panels with the discussed methods. The results suggest a fully automated inspection procedure which combines the different approaches and a study with more samples to establish thresholds indicating intact and damaged fasteners.

scholarly journals The VIKINGS Autonomous Inspection Robot: Competing in the ARGOS Challenge

2019 ◽  
Vol 26 (1) ◽  
pp. 21-34 ◽  
Author(s):  
Pierre Merriaux ◽  
Romain Rossi ◽  
Remi Boutteau ◽  
Vincent Vauchey ◽  
Lei Qin ◽  
...  
Keyword(s):  
Inspection Robot ◽  
Autonomous Inspection

Experimental Research and Application of UT Inspection Method for Detection of Defects on Pressure Vessels and Pipelines Under High-Temperature Environment

2006 ◽  
Author(s):  
Weihe Guan ◽  
Changzhou Yan ◽  
Yuanhong Tao ◽  
Xuedong Chen
Keyword(s):  
High Temperature ◽  
Sound Velocity ◽  
Shear Wave ◽  
Room Temperature ◽  
Pressure Vessels ◽  
Inspection Time ◽  
Inspection Method ◽  
Temperature Environment ◽  
Ultrasonic Shear ◽  
High Temperature Environment

High temperature UT inspection techniques can be used to conduct random inspection on line on the key locations of pressure vessels and pipelines in operation so as to find out fresh defects in time and determine inspection time. It can also be used for real-time monitoring and control of defect-containing pressure vessels and pipelines and provide a basis for safety assessment of equipment so as to ensure safe operation of pressure vessels and pipelines. The propagation velocity of ultrasonic wave in metallic pressure-bearing equipment and its amplitude vary with temperature, therefore, the factors that influence UT inspection ability and measuring accuracy will be increased. In this paper the variation in sound velocity and attenuation law of ultrasonic shear wave in common pressure vessels and pipelines in the range of room temperature ∼ 450 °C is studied, the sound velocity decreases linearly as temperature rises and the attenuation coefficient α decreases as temperature rises, from 0.006 dB/mm at room temperature to 0.08dB/mm at 450 °C. The factors that influence inspection accuracy of ultrasonic shear wave are discussed, including variation in sound velocity, loss in interface sound pressure, thermal expansion, and so forth. The method for detection of weld defects within above temperature range using the ultrasonic shear wave is established, including scanning manner, measurement of defect height and length and their position correction, and so forth. The present situation of online high-temperature UT inspection technology for pressure vessels and pipelines in China is summarized through online UT inspection examples of petrochemical equipment under local high-temperature environment.

Wall Inspection Robot with Maneuvering Assist Control System Against Crosswind

2018 ◽  
Vol 30 (3) ◽  
pp. 416-425 ◽  
Author(s):  
Yogo Takada ◽  
◽  
Yuhei Tokura ◽  
Yodai Matsumura ◽  
Takahiro Tanaka ◽  
...  
Keyword(s):  
Control System ◽  
Lift Force ◽  
Concrete Bridges ◽  
Inspection Time ◽  
Strong Wind ◽  
Inspection Robot ◽  
Gyro Sensor ◽  
Floating Type ◽  
Building Walls

Many social infrastructures and buildings are aging. Therefore, inspections to find deteriorated parts to prevent accidents are important. However, significant costs and inspection time are required for the current technologies. Therefore, inspection methods using robots are attracting attention. As the most appropriate option to traverse freely on concrete bridges and building walls is by traversing with lift force from propellers, a robot called HORNET has been developed that can run along a wall with two rotors. However, the floating-type robot with propellers could drop from a wall if hit by strong wind. Therefore, a gyro sensor was installed in the robot to detect its posture and adopted a simple maneuvering assist control to reduce the above-mentioned issue. In this study, the motion of HORNET was analyzed and a simple control system was designed to realize the maneuvering assist control. It was confirmed that the resistance of HORNET to the crosswind was improved by adding the control system.

scholarly journals Development of Inspection Robots for Bridge Cables

2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
Hae-Bum Yun ◽  
Se-Hoon Kim ◽  
Liuliu Wu ◽  
Jong-Jae Lee
Keyword(s):  
Suspension Bridges ◽  
Robot System ◽  
Inspection Robot ◽  
Cable Stayed Bridge ◽  
Recent Advances ◽  
Bridge Cable ◽  
And Performance ◽  
Inspection Robots

This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented.

scholarly journals A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data

Sensors ◽  
2018 ◽  
Vol 18 (2) ◽  
pp. 596 ◽  
Author(s):  
Xinyan Qin ◽  
Gongping Wu ◽  
Jin Lei ◽  
Fei Fan ◽  
Xuhui Ye ◽  
...  
Keyword(s):  
Transmission Line ◽  
Lidar Data ◽  
Inspection Robot ◽  
Novel Method ◽  
Autonomous Inspection

scholarly journals Mechanism Design and Analysis of a New Overhead Transmission Line Inspection Robot

2020 ◽  
Vol 38 (5) ◽  
pp. 1105-1111
Author(s):  
Yishuang Wang ◽  
Chao Yuan ◽  
Yongjie Zhai
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Simulation Analysis ◽  
Rapid Development ◽  
Frame Structure ◽  
Three Dimensional Model ◽  
Obstacle Crossing ◽  
Inspection Robot ◽  
Overhead Transmission Lines ◽  
Inspection Robots

The requirements of power system for the safety of overhead transmission lines are increasing. With the rapid development of mobile robot technology, the inspection of overhead transmission lines by inspection robots has become a research hotspot in recent years. Aiming at the task requirements of transmission line inspection robots and the environmental characteristics of transmission lines, researchers at home and abroad have developed a variety of inspection robots. However, most of these robots have problems such as inability to cross the strain tower, low obstacle crossing efficiency and poor safety. In order to solve the above problems, this paper proposes a new four-arm inspection robot mechanism. The robot can cross the strain tower with two different sets of arms working together. The rectangular frame structure on the walking arm improves the obstacle crossing efficiency of the robot, and the closed hanging mechanism ensures that the robot does not fall from the line. In this paper, the three-dimensional model of the robot is established, and the specific structure and motion parameters are given. Three typical obstacle-crossing modes are planned, and the motion analysis and force simulation analysis of the robot's obstacle-crossing process are carried out. The simulation result shows that the mechanism can efficiently cross the strain towers and common obstacles on the transmission line.

scholarly journals Risk Management for the Reliability of Robotic Assisted Treatment of Non-resectable Liver Tumors

2019 ◽  
Vol 10 (1) ◽  
pp. 52 ◽  
Author(s):  
Doina Pisla ◽  
Vaida Calin ◽  
Iosif Birlescu ◽  
Nadim Al Hajjar ◽  
Bogdan Gherman ◽  
...  
Keyword(s):  
Quality Function Deployment ◽  
Liver Tumors ◽  
Robotic System ◽  
Targeted Treatment ◽  
Technical Solution ◽  
Medical Procedure ◽  
Delivery Methods ◽  
Therapeutic Efficiency ◽  
Assessment Approach ◽  
Definition Of

Hepatic cancers represent an important worldwide health issue where surgery alone in most cases is not a feasible therapeutic solution since most tumors are non-resectable. Despite targeted therapies showing positive results in other areas of cancer treatment, in the case of liver tumors, no low-risk delivery methods have been identified. Based on a risk assessment approach, this paper proposes a technical solution in the form of a robotic system capable of achieving a reliable delivery method for targeted treatment, focusing on the patient safety and therapeutic efficiency. The design of the robotic system starts from the definition of the design constraints with respect to the medical protocol. An analytical hierarchy process is used to prioritize the data correlated with the technical characteristics of a new robotic system, aiming to minimize risks associated with the medical procedure. In a four-phase quality function deployment, the technical solution is evaluated with respect to the quality characteristics, functions, subsystems, and components aiming to achieve a safe and reliable system with high therapeutic efficiency. The results lead to the concept of HeRo, a parallel robotic system for the reliable targeted treatment of non-resectable liver tumors.

Development of Internal Gas Pipe Inspection Robot

1995 ◽  
Vol 7 (5) ◽  
pp. 371-376 ◽  
Author(s):  
Yoshifumi Kawaguchi ◽  
◽  
Itsuo Yoshida ◽  
Keizo Iwao ◽  
Takashi Kikuta
Keyword(s):  
Power Supply ◽  
Communication System ◽  
Fiber Optic ◽  
Pipe Inspection ◽  
Inspection Robot ◽  
Fiber Optic Communication ◽  
Optic Communication ◽  
Inspection Robots ◽  
Dual Mechanism ◽  
Plug Valve

This paper describes a new mechanism and communication system for an in-pipe inspection robot. To date, inspection robots have been limited as to their mobility to turn in a T -shaped pipe or move in a plug valve. The new mechanism based on our dual magnetic wheels overcomes these limitations without difficult controls. This dual mechanism, resembling a crawler, enable the robot to climb over steep obstacles like sleeves and dresser joints. Another drawback of earlier robots is that the friction between the pipes and the cables for communication and power supply makes it difficult for them to move long distances. A fiber-optic communication system can reduce such friction. The spools of the fiber-optic communication cables and batteries are mounted on the robot and the cables are rolled or unrolled when the robot is moving forward or backward, respectively. An experimental inspection robot has been made to confirm the efficiency of the new mechanism. However, the robot fell off a Tshaped pipe when it attempted to turn in the pipe with its position being inadequate. It is difficult to eliminate such inadequacy because the robot might be disturbed while attempting to avoid a plug or because of sensors functioning uncertainly. For that reason, a mechanism which makes a robot twist is adopted. The improved experimental robot successfully turned in a T-shaped pipe even when its position was inadequate.

Calibration and Registration for Inspection Robot with Contact Probe

2010 ◽  
Vol 97-101 ◽  
pp. 4319-4323
Author(s):  
Yu Qing Chen ◽  
Jin Huang ◽  
Hui Pu Xu ◽  
Zi Ma
Keyword(s):  
Constrained Optimization ◽  
Optimization Problem ◽  
Inspection System ◽  
Constrained Optimization Problem ◽  
Inspection Robot ◽  
Contact Probe ◽  
Sphere Radius ◽  
Parameter Separation ◽  
Inspection Robots ◽  
Nearest Points

This paper investigates the hand-eye calibration and points registration methods based on Cartesian coordinate’s transformation in armed robot inspection system. Different from traditional imaged based approach, the sphere radius of the inspection probe is considered; the hand-eye calibration and 3D points’ registration are both derived as constrained optimization problem. Matrix transformation of parameter separation is presented to get the approximate resolution. Finally, iterative cycles are provided to calculate the nearest points on designed surface corresponding to the inspection points. Experiment results illustrated the application of these ideas and demonstrated the validity of the proposed framework for inspection robots.

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