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

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 ri...

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Bibliographic Details
Published in:Applied sciences 2021-08, Vol.11 (16), p.7427
Main Authors: Rodriguez-Castaño, Angel, Nekoo, Saeed Rafee, Romero, Honorio, Salmoral, Rafael, Acosta, José Ángel, Ollero, Anibal
Format: Article
Language:English
Subjects:
arial manipulation
Automation
Birds
Cables
Carts
clip-type bird flight diverters
Control systems
Diverters
Electricity
Electricity distribution
Experimentation
Flight
Helicopters
high-voltage power lines
inspection and maintenance
Installation
multirotor systems
Power lines
Sensors
Unmanned aerial vehicles
Wind
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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app11167427