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978-1-4799-6422-2/14/$31.00 2014 IEEE
Robotic Systems Applied to Power Substations A State-of-the-Art
Survey
Jean-Francois Allan1, Julien Beaudry2 Hydro-Qubec Research
Institute (IREQ)
Robotics and Civil Engineering Varennes, Qubec, Canada
1 [email protected], 2 [email protected]
Abstract-- This paper presents a state-of-the-art survey of
robotic systems applied to power substations. Bibliographic
research for this paper identified some 75 scientific publications
and 39 patents dating from the late 1980s to 2013. Aside from
recent work at Hydro-Qubec (IREQ) in Canada on a field robot for
power substations, almost all the R&D work identified comes
from Asia, especially during the last decade, with the main
research developments involving a mobile robot named SmartGuard
from State Grid Corporation of China (SGCC). The first section of
the paper presents robotic systems dedicated to inspection and
security in power substations, while the second part of the paper
looks at robots for operation and maintenance tasks in substations.
A list of patents for robots for substations is also provided.
Index Terms-- Inspection, navigation, robot, substation.
I. INTRODUCTION
A literature review of robotic and remote control systems for
maintenance of transformer substations and overhead transmission
and distribution lines was conducted about 20 years ago [1]. At the
time, robotics for power substations was not a major research and
development topic for electric utilities; most robot applications
were for teleoperated robots used for live-line maintenance of
overhead power lines. In addition, there were no satisfactory
technical solutions for robot inspections of substations in 1993
[2]. The technology has evolved over the last two decades, however,
paving the way for new robotic applications.
Furthermore, with the modernization of power grids, there is a
drive to include autonomous devices in substations [3]. In this new
context, robotics can play a role in the inspection, maintenance
and operation of substation equipment. The following sections
present existing robotic systems applied to substations as
described in the published literature.
II. INSPECTION AND SECURITY TASKS
This section covers robotic systems that inspect and monitor
substations, often by using cameras (the robots are not in contact
with the equipment).
A. Terrestrial robots
Two of the earliest publications on mobile robotics applied to
substations describe a patrolling robot developed by the Chubu
Electric Power Co. in the 1980s [4] [5]. This mobile robot (1.3 m
wide, 1.4 m long and 1.7 m high) was equipped with an infrared
camera, a color camera, an abnormal pulse detector and a
microphone, and it patrolled the substation with the help of an
electromagnetic detection system that followed a guide wire buried
1 cm below the surface. Battery-powered, the robot operated for 2.5
hours and could be recharged at a charging station in the
substation. A Japanese paper published in 1999 describes the
development of this patrolling robot [6]. In the 1990s, Hitachi,
Toshiba and Mitsubishi developed inspection robots for substations;
a picture of a robot named Big Mouse is presented in [15].
1) State Grid Corporation of China (SGCC)
A report published in 2004 describes the main R&D advances
in robotics for transmission and distribution in China [7]. The
work done between 2002 and 2005 was supported by the National High
Technology R&D Program of China, with the first three years of
the program dedicated to prototypes and the last to their
industrial application. A mobile robot for a 500-kV substation is
described. The robot is equipped with a visible and an infrared
camera as well as a directional microphone [8][9].
The Web site of the Electric Power Robotics Laboratory of SGCC
recaps the history of the robotics project supported by the Chinese
R&D program [10]. The first robots were used for inspection
tasks, and they went into operation in 2005 [11]. These SGCC robots
are called SmartGuard, and several generations have been developed
since 2002. Fig. 1 shows different versions of this substation
robot and more detailed information is given in [12], [13] and
[14]. Technical specifications for the robot are given in [15]. The
robot has two independent motorized wheels in front and two
omni-directional wheels at the rear. Several scientific
publications since 2008 describe the development of the SmartGuard
robot. One paper discusses the software control architecture under
Linux that improves performance and stability in real time,
allowing implementation of complex control algorithms [16].
Downloaded from http://www.elearnica.ir
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Fig. 1. Different versions of the SmartGuard robot described by
Guo et al. in [12] (2010; 2010 IEEE) and Wang et al. in [13] (2010;
2010 IEEE)
A number of papers discuss methods of navigation for a robot in
a substation. A method of monocular navigation, with the robot
following a yellow line 10 cm wide on the ground by processing
image and ground markers indicating commands the robot must carry
out, is described [17] [18]. Robot navigation using differential
GPS navigation (DGPS) and dead reckoning (DR) principles has also
been investigated [19][20][21][22]. Use of an omni-directional
vision system with infrared illumination is described, the system
using a Frontier-II robotic platform (Fig. 2) and having a
positioning error of 4 cm and 2.5 [23]. Details of this
omni-directional infrared vision system are provided by researchers
from Shanghai Jiao Tong University [24][25].
Fig. 2. Navigation with infrared omni-directional vision, Guo et
al. in [23] (2009; 2009 IEEE)
A navigation system based on magnetic guidance is also described
[26]. A series of magnetic markers are placed on the roadway, and
sensors on the robot pick up signals; localization is based on
radio frequency identification (RFID) technology. Positioning error
is 0.22 cm with this method of navigation. By the end of 2010,
there were 13 SmartGuard robots serving SGCC and the China Southern
Power Grid: 12 SmartGuard robots in 11 substations equipped with
magnetic guidance navigation, and one robot equipped with GPS-DR
navigation [15].
Two studies investigated navigation by laser (commonly used in
industrial robotics for autonomous guided vehicles) using a Sick
NAV200 laser sensor [27] [28].
For the inspection of equipment in substations, the SmartGuard
robot uses a vision system composed of a visible light camera, an
infrared thermal imager, a pan-and-tilt mechanism and an image
processing module. An algorithm was developed for visual and
infrared image fusion invariant to changes in scale and
illumination (see result in Fig. 3) [29]. Two SmartGuard robots
have been equipped with this technology [30]. A method for isolator
status recognition was also developed [31] [32] [33].
Fig. 3. Fusion of visible and infrared substation equipment
images, Li et al. in [29] (2010; 2010 IEEE)
2) Hydro-Qubec Research Institute (IREQ)
In 2012, field tests were performed in Hydro-Qubec substations
using a mobile robot developed by IREQ [34]. This robot (Fig. 4)
was built on a Clearpath Robotics Husky A200 mobile platform and
uses a visible camera and a Jenoptik thermographic camera for
substation inspection tasks.
Fig. 4. IREQ mobile robot, Beaudry et al. in [34] (2012)
3) Other research developments
An article published in 2006 by the Chongqing Electric Test and
Research Institute introduced the concept of an automatic guided
vehicle (AGV) with laser guidance to inspect substations [35]. A
study by the Sichuan Electric Power Research Institute and the
Guangxi University of Technology looked at navigation and
positioning of the robot using color vision (detection of edges by
following a yellow line on the road as a guide) and RFID technology
(tags installed on the road at desired locations that give commands
to the robot) [36]. Also, use of a line on the ground as a
navigation guide with an Uptech Voyager II mobile robotic platform
was studied at the University of Science and Technology Beijing
[37][38][39] and Jinan University [40]. A paper issued by the
Northeast Electric Power University and the Heilongjiang Electric
Power Co. describes the use of graph theory in patrolling robot
technology for unattended substations [41]. RFID tags are used
during navigation to command a robot created at the Southwest
University of Science and Technology, and a visual camera is used
for edge detection [42]. Use of a Bumblebee2 stereo vision system
mounted on a robot for 3D reconstruction and obstacle detection is
also described [43] [44].
Described as well are a visual servo system for adjusting robot
gesture to center an image [45] and an algorithm for path planning
[46]. Studies at Chongqing University propose a path planning
strategy that considers road attributes [47] [48]; a Pioneer 3-AT
robot platform was used [49]. At the 2012 CIGRE Congress,
researchers from the Instituto de Investigaciones Elctricas (IIE)
in Mexico presented a
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computer-simulated navigation algorithm based on a Markov
Decision Process that can be used to obtain an optimal robot path
[50].
B. Robots moving along cables
A mobile robotic system that moves on a steel cable and uses an
infrared camera to detect hot spots in a substation was developed
at the University of Sao Paulo [51]. This technology is similar to
that used for robots developed for inspection of power transmission
lines, but without the ability to cross obstacles.
C. Aerial robotics
Orthophoto maps are used to manage the transmission assets of
the National Grid Corporation of the Philippines (NGCP): power
cables, transmission towers, substations, etc. [52]. Orthophoto
maps can also be used, in conjunction with field data and satellite
images, for other critical applications such as vegetation
management.
The use of unmanned air vehicles (UAV) and remote sensing
technologies seems a viable option for inspection and condition
assessment of overhead transmission lines [53], and it is probably
just a matter of time till these technologies are transferred to
substation applications.
D. Image processing
1) Security and surveillance
An article published in 1990 by authors affiliated with
Hiroshima University, the Tokyo Electric Power Co. and the TOKO
Electric Corp describes a system for real-time detection of
trespassers in substations [54]. Composed of a video camera, an
image processor system and a microprocessor, this system detects
intruders by measuring changes of intensity level, with different
thresholds for an alarm signal.
Researchers from Hong Kong Polytechnic University and the China
Light & Power Co. report on the use of remote vision for
substation monitoring (real-time status of equipment), security and
fire safety [55] [56] [57].
An article published in 2001 [58] describes a Swedish pilot
project testing use of a movement detector that generates an alarm
when movement is detected in the substation together with a camera
that shows a picture of what occurred.
A study at Wuhan University looked at a multi-agent architecture
for intelligent video monitoring of unattended substations using
moving object detection and tracking methods [59]. Researchers at
the Shanghai University of Electric Power describe a substation
perimeter safety monitoring system based on ZigBee communication
technology [60].
2) Inspection of substation equipment
Researchers at the North China Electric Power University used a
computer vision technique (a non-contact method that allows remote
meter reading) to monitor the condition of substation equipment
[61]. Another study describes the use of image processing and
recognition to monitor high-voltage
equipment running status [62], and yet another describes the
application of video image recognition technology to solve problems
of meter display information recognition (see Fig. 5), switch
position recognition and transformer fan working state recognition
in substations [63].
Fig. 5. Meter display recognition, Sun et al. in [63] (2011;
2011 IEEE)
Researchers at Sabzevar Tarbiat Moallem University in Iran used
thermography images to detect electrical equipment faults [64]
[65]. And researchers at the State Grid Corporation of China used
fusion of visible and infrared pictures together with an
intelligent environment surveillance system to enhance substation
operation security, stability and reliability [66] [67].
3) 3D reconstruction
The use of laser and optical geotechnologies to create CAD
models of substations is the main subject of a paper published in
2012 [68]. These technologies provide the high level of detail
required to reconstruct existing models (reverse engineering) and
to establish control and security status over time. One of the main
goals with geotechnologies is semi-automatic modeling of
three-dimensional CAD objects to conceptualize a substation and
define it dimensionally, manage enlargements and maintain or
replace equipment. An experiment using a Trimble GX laser scanner,
a digital camera and computer vision algorithms (A-SIFT: affine
scale-invariant feature transform; and RANSAC: random sample
consensus) in an outdoor electrical substation in Jumilla, Murcia,
Spain, is described [68]. A comparison was established with the
constructed CAD models using the data provided by the manufacturer,
Iberdrola: an average discrepancy of 9 mm was obtained, giving an
overall accuracy better than 98% for the CAD models.
Another paper also looks at 3D reconstruction applied to a
substation [69]. Two of the authors of this paper are associated
with Eletrobras Furnas Brazil. Discussed in another paper are LiDAR
(light detection and ranging) technologies and their role in 3D
modeling of substations, with the possible advantage of virtual
substation visits without ever leaving the office [70].
III. OPERATION AND MAINTENANCE TASKS
This section describes the literature on robots that perform
maintenance or operation tasks on power network equipment in
substations (involving physical contact between robotic systems and
substation equipment).
A. Cleaning insulators
A mobile HVCR (High-Voltage Cleaning Robot) system was developed
at Shanghai Jiao Tong University to clean porcelain insulators of
220/330-kV substations. Incorporating a scissor lift telescopic
mechanism, the robot can reach a height of 8 metres. The cleaning
is done with a brush-spinning
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device. Two papers discuss the robotic system architecture [71]
[72], and two others look at the insulation of the robot given the
high voltages concerned [73] [74]. Another paper describes version
II of the robot (HVCR-II) but does not detail the differences
between versions I and II [75]. A radius variable manipulator for
the HVCR that changes radius continuously to adapt to the contour
of the pyramid insulators is described as well [76]. And in a paper
published in 2010, a new live-line work robot capable of ultrasonic
detection of flaws in porcelain insulators of 220-kV substations is
described [77].
Researchers at the Korea Electric Power Research Institute
(KEPRI) developed a robotic system to clean power insulator
suspension chains of transmission towers and substations [78].
B. Activating 735-kV disconnect switches
A Kinova Jaco robotic manipulator arm was integrated in IREQs
terrestrial mobile robot (initially as in Fig. 4) so it could
perform operation tasks in a power substationactivating 735-kV
disconnect switches, for example. A field test was performed in
July 2013 at a Hydro-Qubec substation, with the robot teleoperated
to get it to its destination in the substation, open a cabinet door
and activate 735-kV disconnect switches (see Fig. 6).
Fig. 6. IREQ mobile robot with manipulator arm to activate
735-kV disconnect switches at Hydro-Qubec power substation
IV. PATENTS ON ROBOTS FOR SUBSTATIONS
Innographys patent search software and database were used to
draft a list of patents involving robots and substations. As shown
in Table 1 and Table 2, 39 Chinese patents were identified. No
worldwide (WO), U.S. or Canadian patents were found. Most of the
patents are for technologies developed at the Shandong Electric
Power Research Institute or the Shandong Luneng Intelligence
Technology Co. Ltd., organizations with ties to the SGCC.
V. CONCLUSION
This paper presents a state-of-the-art survey of robotics
applied to power substations through a literature review of some 75
scientific publications. Though terrestrial mobile robotics applied
to substations emerged in Japan in the 1980s, the vast majority of
the work was done in China in the last decade, with considerable
R&D effort devoted to SmartGuard robot technology by the State
Grid Corporation of China. In fact, apart from the field robot
system recently developed at IREQ (Hydro-Qubec) for inspection,
maintenance and operation tasks, virtually all other initiatives
were in Asia, mainly in Chinaand all 39 identified patents are for
Chinese territory. In addition, other tasks that could potentially
be
robotized (including inspections for partial discharges and
detection of SF6 gas leaks) have been identified for future
development [15]. Also, EPRI in the United States seems interested
in the development of robot technologies for substation
applications [79]. Clearly, we can expect more studies on robots
applied to power substations in the years to come, and these could
be added to this survey.
TABLE I. PATENTS FOR TECHNOLOGIES DEVELOPED AT THE SHANDONG
ELECTRIC POWER RESEARCH INSTITUTE OR THE SHANDONG LUNENG
INTELLIGENCE TECHNOLOGY CO., LTD. IN CHINA
CN101604825 A, 12-16-2009, Robot used for intelligent substation
patrol CN101957325 A, 01-26-2011, Substation equipment appearance
abnormality recognition method based on substation inspection robot
CN202041851 U, 11-16-2011, Intelligent routing inspection robot of
laser navigation transformer substation CN102255392 A, 11-23-2011,
Method for controlling switching operation sequences of
full-automatic transformer substation based on mobile robot
CN202058039 U, 11-30-2011, Combined positioning system for
substation intelligent inspection robot with integrated
multi-sensors CN202166895 U, 03-14-2012, Laser navigation system of
intelligent patrol robot at transformer substation CN202167774 U,
03-14-2012, Transformer substation patrolling and examining robot
system based on smart antenna technology CN202171746 U, 03-21-2012,
Transformer substation patrol robot based on wireless local
positioning system CN202176206 U, 03-28-2012, Automatic door
control system for charging room of intelligent patrol inspection
robot in substation CN202205099 U, 04-25-2012, Intelligent
inspection robot navigation and control system for transformer
substation CN202230635 U, 05-23-2012, Transformer substation
inspection robot simulation system based on virtual reality
technology CN101957325 B, 05-23-2012, Substation equipment
appearance abnormality recognition method based on substation
inspection robot CN202282566 U, 06-20-2012, Transformer substation
patrol inspection robot with bi-directional voice communication
function CN202285342 U, 06-27-2012, Intelligent polling robot
charging device for transformer substation CN202334810 U,
07-11-2012, Two-way voice communication device for inspection robot
system in transformer substation CN102566576 A, 07-11-2012, Many
scanning test robots for sequential control system of transformer
substation, in coordination with the method of operation
CN202333477 U, 07-11-2012, Charging room for intelligent inspection
robot of substation CN202333525 U, 07-11-2012, Intelligent robot
inspection system with long-distance video instruction function for
transformer substation CN202333860 U, 07-11-2012, Charging docking
assembly of transformer substation intelligent polling robot system
CN202423926 U, 09-05-2012, Transformer substation polling robot
gesture driving system based on electronic map CN202443332 U,
09-19-2012, Intelligent routing-inspection robot environmental
information measurement and control system of transformer
substation CN202495798 U, 10-17-2012, Automatic charging mechanism
for transformer substation inspection robot CN102314615 B,
11-07-2012, Substation inspection robot-based circuit breaker state
template-matching identification method
TABLE II. OTHER PATENTS FOR ROBOT APPLICATIONS IN
SUBSTATIONS
CN101984382 A, 03-09-2011, Method for intelligently inspection
substation equipment by using robot, Chongqing Power Company Extra
High Voltage Bureau CN102082466 A, 06-01-2011, Intelligent
inspection robot system for transformer substation equipment,
Ultra-hv Transmission Bureau of Chongqing Electric Power Company
CN102097860 A, 06-15-2011, Intelligent robot patrol system for
safety detection of substation, Guodong Fengjie Science And
Technology Co., Ltd. CN201897822 U, 07-13-2011, Transformer
substation inspection robot, Chongqing Chuangge Technology Co.,
Ltd. CN102169602 A, 08-31-2011, Structural design of inspection
robot of transformer substation, Shenyang Ultra-hv Bureau of
Northeast China Grid Company Limited CN102170146 A, 08-31-2011, A
battery intelligent management system used for a patrol robot in a
transformer substation, Beijing Huadian Fengniao Technologies Co.,
Ltd. CN202025365 U, 11-02-2011, Structural design of patrol robot
in transformer substation, Northeast China Grid Company Limited.
Shenyang Ehv Bureau CN101604825 B, 12-14-2011, Robot used for
intelligent substation patrol CN202092653 U, 12-28-2011, Navigation
system for substation inspection robot, North China Electric Power
University CN102430546 A, 05-02-2012, Insulating sub-band
electro-cleaning robot of transformer substation, Inner Mongolia
Electric Power Science Research Institute CN202238790 U,
05-30-2012, Live-line cleaning robot for substation insulator,
Inner Mongolia Electric Power Science Research Institute
CN202474607 U, 10-03-2012, Automatic patrol inspection robot system
of intelligent transformer substation, Hohai University,
Changzhou
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CN102736624 A, 10-17-2012, Intellectual scanning test robot of
wall-mounted type of a kind of transformer substation, Shenyang
Institute of Automation, Chinese Academy of Sciences CN202534975 U,
11-14-2012, Transformer substation inspection robot with infrared
obstacle-avoiding function, Changzhi Power Supply Branch of Shanxi
Electric Power Company CN202649815 U, 01-02-2013, Transformer
substation panorama automation inspection system based on robot
technology, Kunming Nengxun Technology Co., Ltd. CN202686368 U,
01-23-2013, Various track type carrier cart for transformer
substation patrolling robot, Liaoyuan Power Supply Co., Ltd. of
Jilin Electric Power Co., Ltd.
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