Transmission Line Inspection Robot

7
3936
Power line inspection robot
Power line inspection robot, transmission line inspection robot

Introduction

Transmission Line Inspection Robot is also known as Power Line Inspection Robot is used on Transmission lines for monitoring and fault detection. Using this robot we can measure the current/voltage, Temperature, and Humidity. For physical monitoring of the conductor, we are using a camera that will give us real-time video footage of the current state of conductors, insulators, damper, separators, or poles.

How does Transmission Line Inspection Robot work?

The control architecture of the robot for transmission lines includes an Arduino UNO Microcontroller, for monitoring purposes or either current/voltage, Temperature, Humidity. We are using Sensors, which can measure in real-time and gives feedback to the microcontroller (Arduino UNO Microcontroller), this feedbacks can be displayed on the App interface to inform the operating user.

For physical monitoring of the conductor, we are using the camera which will give us real-time video footage of the current state of conductors, insulators, damper, separators, or poles. There is another app designed for that purpose so that video footage can easily be viewed on a bigger screen. Now the workers can monitor the condition of the conductor in a very convenient way without any danger.

Transmission Line Inspection Robot
Block Diagram of Power line Inspection robot
Power line Inspection robot
Transmission line Inspection robot

Components used:

  • Current Sensor
  • DHT Sensor
  • L329D  motor driven circuit
  • DC geared Motors
  • Arduino Uno
  • Node MCU
  • Wi module
  • Humidity senor
  • Temperature sensor
  • IP wireless camera

you also may like to read IoT based fault detection in transmission line.

Results

The design of the complete robot for transmission line inspection is carried out based on the experimental and mechanical analysis. All subordinate systems of the robot mechanism are assembled, fixed, and integrated with the control system. An android-based control application is used to operate the robot. The Robot has the following dimensions Length is 30cm, Width is 22cm and the height is 17cm. The robot base is 3.5 inches wide. The weight of the robot is about 5 kg with all the tools and within the volume of 4.62*10^3

Robot-based prototype experiments are conducted through a straight line of a transmission line setup. Robot motion through a straight line, tower junction crossing, and motion through jumper cable is easy for the robot. Several trial experiments are conducted. The average time taken for ten experiments is about 7.5 minutes. This PLIR takes an average time of 42.6 s to cover a 10 m distance on cables between two poles.

Transmission Line  Robot
User control of robot movement by mobile app

Coding: (power Line Inspection Robot)

#include “DHT.h”

// include the library code:

#include<LiquidCrystal.h>

// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to


const int rs = 13, en = 12, d4 = 11, d5 = 10, d6 = 9, d7 = 8;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);

#define DHTPIN 2 // Digital pin connected to the DHT sensor

// Uncomment whatever type you’re using!

define DHTTYPE DHT11 // DHT 11

DHT dht(DHTPIN, DHTTYPE);

// motor driver pins
int in1 = A0;
int in2 = A1;
int in3 = A2;
int in4 = A3;

// Measuring Current
const int analogchannel = A5; //Connect current sensor with A0 of Arduino
int sensitivity = 185; // use 100 for 20A Module and 66 for 30A Module
float adcvalue= 0;
int offsetvoltage = 2500;
double Voltage = 0; //voltage measuring
double ecurrent = 0;// Current measuring

unsigned int temp=0;
float maxpoint = 0;
int i=0;

void setup()
{
Serial.begin(9600);
// set up the LCD’s number of columns and rows:
lcd.begin(16, 2);

pinMode(in1,OUTPUT);
pinMode(in2,OUTPUT);
pinMode(in3,OUTPUT);
pinMode(in4,OUTPUT);
pinMode(analogchannel, INPUT);

// Print a message to the LCD.
lcd.print(“Power Line Inspection Robot”);
Serial.println(F(“……….”));

dht.begin();
// Wait a few seconds between measurements.
delay(2000);
lcd.clear();
}

void loop()
{

// Reading temperature or humidity takes about 250 milliseconds!
// Sensor readings may also be up to 2 seconds ‘old’ (its a very slow sensor)
float h = dht.readHumidity();
// Read temperature as Celsius (the default)
float t = dht.readTemperature();
// Read temperature as Fahrenheit (isFahrenheit = true)
float f = dht.readTemperature(true);

// Check if any reads failed and exit early (to try again).
if (isnan(h) || isnan(t) || isnan(f)) {
Serial.println(F(“Failed to read from DHT sensor!”));
return;
}

lcd.setCursor(0, 0);lcd.print(“Temp:”);
lcd.setCursor(8, 0);lcd.print(t);

lcd.setCursor(0, 1);lcd.print(“Hum:”);
lcd.setCursor(8, 1);lcd.print(h);

// Compute heat index in Fahrenheit (the default)
float hif = dht.computeHeatIndex(f, h);
// Compute heat index in Celsius (isFahreheit = false)
float hic = dht.computeHeatIndex(t, h, false);

Serial.print(F(“Humidity: “));
Serial.print(h);
Serial.print(F(“% Temperature: “));
Serial.print(t);
Serial.print(F(“°C “));
Serial.print(f);
Serial.print(F(“°F Heat index: “));
Serial.print(hic);
Serial.print(F(“°C “));
Serial.print(hif);
Serial.println(F(“°F”));
delay(1000);

for(int i=0 ;i < 50;i++) { if(temp = analogRead(analogchannel),temp>maxpoint)
{
maxpoint = temp;
}
}
adcvalue = maxpoint;
Voltage = (adcvalue / 1024.0) * 5000; // Gets you mV
ecurrent = ((Voltage – offsetvoltage) / sensitivity);
ecurrent = ( ecurrent ) / ( sqrt(2) );

lcd.clear();
lcd.setCursor(0, 1);lcd.print(“Current:”);
lcd.setCursor(12, 1);lcd.print(ecurrent);
delay(1000);
move_forward ();
move_backward ();
Stop ();
}

void move_forward()
{
lcd.clear();
lcd.setCursor(0, 0); lcd.print(“Moving forward”);
digitalWrite(in1,HIGH);
digitalWrite(in2,LOW);
digitalWrite(in3,HIGH);
digitalWrite(in4,LOW);
delay(1000);
}

void move_backward()
{
lcd.clear();
lcd.setCursor(0, 0); lcd.print(“Moving backward”);
digitalWrite(in2,HIGH);
digitalWrite(in1,LOW);
digitalWrite(in4,HIGH);
digitalWrite(in3,LOW);
delay(1000);
}

void Stop ()
{
lcd.clear();
lcd.setCursor(0, 0); lcd.print(“Stopped”);
digitalWrite(in2,LOW);
digitalWrite(in1,LOW);
digitalWrite(in4,LOW);
digitalWrite(in3,LOW);
delay(1000);
}

Conclusion

Transmission line Robot mechanism comprises of subsystems and each subsystem is designed as per the detailed design procedure and analyses were also made before integrated all the subsystems. The Android-based Arduino controller is used for the experimentation. The prototype robot mechanical model is simple in design and easy to study. It is a cheaper and small help for traversing through both a straight power line and jumper cable. This prototype robot has multiple sensors to sense the basic changes in the transmission line like temperature, current, humidity.

7 COMMENTS

  1. I go to see daily a few blogs and websites to read articles, but this website offers feature based articles. Constancy Lucias Luz

LEAVE A REPLY

Please enter your comment!
Please enter your name here