Ferranti Mk. IV continuous path phase control system

Abstract

Routine inspection of a power transmission line (PTL) system for early fault detection and maintenance is crucial for efficient transmission of electric power to consumers. Unlike the conventional manual inspection methods that are labor intensive, dangerous and expensive, an efficient inspection using robots has been a key research interest for many research institutes around the world. This paper presents a comprehensive review and trends of power transmission line inspection robots (PTLIRs) focusing on the latest research achievements within the years 2008 to 2019. The structure, operation, and limitations of the inspection robots, namely, climbing, flying, and hybrid (climbing-flying) robots are extensively discussed. Although climbing robots provides the most reliable inspection data due to their proximity to the line, landing the robot on the line as well as obstacle avoidance has been challenging. Thus, hybridizing the climbing and the flying robots have proved to be an excellent approach to the robotic PTL inspection. Furthermore, power supply, automatic obstacle detection, and control system which are the main challenges of PTL inspection are presented. Finally, it is has been concluded that challenges such as limited on-board battery capacity, unreliable line fault detection, electromagnetic shielding, de-icing mechanism and advanced control techniques for external wind disturbance would be a promising future research direction for researchers in the field of robotic PTL inspection.