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

Area of Science:

• Electrical Engineering
• Robotics
• Geospatial Analysis

Background:

• Increasing electricity demand necessitates complex transmission line infrastructure in challenging environments.
• Inspecting transmission lines in mountainous and forested regions presents significant logistical and technical hurdles.

Purpose of the Study:

• To propose a novel autonomous inspection method for transmission lines using cable inspection robot (CIR) LiDAR data.
• To enhance the efficiency and accuracy of transmission line inspections in difficult terrains.

Main Methods:

• The method involves preliminary inspection using position and orientation system (POS) data for point cloud processing and hierarchical classification of anomalies.
• Autonomous inspection utilizes inspection planning for CIR navigation and PTZ cameras for imaging via coordinate transformation.

Main Results:

• The proposed method was validated through test site and actual line experiments, demonstrating feasibility and effectiveness.
• Significant reductions in manpower and improvements in inspection accuracy were achieved.

Conclusions:

• The developed autonomous inspection system offers a viable solution for intelligent transmission line monitoring.
• This research provides a theoretical foundation for future advancements in automated infrastructure inspection.