Hydro-Quebec’s Mobile Robots for

Power Line Inspection and Maintenance

New Delhi, March 2010

Serge Montambault
Project Manager, Transmission Line Robotic Program
Hydro-Quebec Research Institute
Summary

 Hydro-Quebec at a Glance
 Hydro-Quebec’s Previous Work
 LineROVer Technology
 RST-2X Prototype
 LineScout Technology
 Field Deployment and Installation Methods
 On Economic and Strategic Impact
 Future Work and Challenges Ahead
 Conclusion
Hydro-Quebec at a Glance
 Core business: power generation (97% hydraulic),
transmission and distribution
 2008 revenue: 12 717 M CAD
 2008 total customer accounts in Quebec: 3 913 444
 Transmission grid: 33 000 km
 Substations: 510
 Distribution grid: 110 000 km
 Number of employees: 23 300
 Research Institute: 450 researchers, technicians
and engineers
Hydro-Québec’s Robotics Applied to Transmission Lines

LineROVer Technology

RST-2X Prototype

LineScout Technology

1998 2002 2004 2010

Hydro-Québec’s Robotics Applied to Transmission Lines

LineROVer Technology LineScout Technology

RST-2X (Prototype Technology)

LineROVer: Development Context
 January 1998: major ice storm hits Quebec
 Mechanical de-icing approach for overhead ground
wire problematics
LineROVer: Mobile Platform
 High traction force
 Lightweight (25 kg – 55 lb)
 EMI robustness (315 kV - 800 A)
 Compact and ergonomic
 One day power autonomy
(task depending)
 Speed: 0 - 4 km/h (0 - 4 ft/s)
 Robust to field conditions
 Proven reliability
 800 m remote control range
 Capacity to pass over splices, adaptable to most conductor
gauges
LineROVer: De-Icing Overhead Ground Wire

 Set of adjustable steel

blades

 De-icing of steel overhead

ground wire with splices
and optical overhead
ground wire

 Tested in a climatic
chamber at IREQ facilities

 Ice parameters very close to

natural ice deposit
LineROVer: De-Icing Testing Parameters

Off-centered ice deposit on a steel wire Off-centered ice deposit on a steel wire with splice

Off-centered ice deposit on an optical LineROVer De-icing

ground wire
LineROVer De-Icing: Conclusion
 Efficiency of the prototype proven in laboratory
conditions
 Motorized de-icing tool was efficient, but unnecessary
 De-icing steel ground wire (with splices) and optical
ground wire
 Efficient on centered and off-centered ice deposits
 Minimizes unbalanced forces on the structure
(progressive de-icing)
 Eventually applicable to conductor de-icing
 Three units in China for de-icing
LineROVer: Other Implemented Applications
Implemented Live-Line Applications
 Visual and Infrared Inspection
 Splice Condition Evaluation
 Conductor/Ground Wire Replacement
and Safety Net Installation
 Conductor Cleaning (to be adapted)

Video
RST-2X Prototype: Conductor Bundle

RST-2X (Prototype Technology)

 LineScout: On Obstacles to Cross
1. Bundle of conductors
2. Spacer dampers
3. Insulator string
4. Suspension clamp
5. Vibration damper
6. Overhead ground wire
7. Aerial marker
LineScout: On Obstacles to Cross

Gamme d'obstacles
Selected choisie
range of pouvant
obstacles
être franchis par le LineScout

0 10 20 30 40 50 60 70 80
(0) (0.25)
Longueur (0.5
d'interruption (0.75
du conducteur (1.0) (1.25)
telle que perçue (1.5)
par le LineScout (1.75)
(pouces) (2.0)

Obstacle length – inch (meters)

LineScout: On Obstacles to Cross

Rolls on
them

Cross
them

Cannot
cross
them
LineScout Mobile Platform: an Overview
Crossing sequence implies grasping
the conductor on each side of the
obstacle 1)

 Translation is split between the wheel

and arm frame, improving compactness 2)

 The center of gravity is progressively

moving, minimizing cantilevered loads 3)

 Large wheelbase compared to overall

dimensions, for a stable vehicle, allowing 4)

extra payload
5)

6)
Development Tools and Simulations

Video
LineScout Technology: Technical Specifications
LineScout Development Milestones
 Proof of concept: first mechanical prototype 2004
 EMI proofing and first live-line testing 2005
 Design of operator interface, 1st field work 2006
 Introducing new modules and sensors 2007
 Live interventions on different networks 2008

Design Requirements and Performance

 Conductor diameter from 12 to 85 mm
 Obstacle length up to 80 cm
 Overall dimensions of 1,40m x 0,75m x 0,6m
 Weights of 100 kg (112 kg with arm)
 Linear speed of 1.0 m/sec
 EMI shielded up to 735 kV/1000 A
 Maximum slope of 25 degrees
 Change of direction at tower of up to 14 degrees
 Tested temperature range from -15°C to 35°C
LineScout Mobile Platform: an Overview

Video
Dual End-Effectors Modular Arm
Mechanical design
 Mounted on gripper arm to capitalize on an existing
DOF
 Dual end-effectors makes for a compact and
versatile design
 Three-DOF, two motors at the base, inner
transmission and cabling
 Mass: 7,8 kg
 Payload of 100 N

Video
Dual End-Effectors Modular Arm
 The workspace and specifications
 Based on a 4-conductor bundle configuration
 Must reach all 4 clamps, even when distorted
 Should allow visual inspection and other tasks
 Shall not interfere with obstacle clearing sequence
Programmable Pan-And-Tilt Camera Units
Custom designed
 ±90° Tilt / ±350° Pan
 Digital camera with 24X optical zoom + IS
 EMI shielded under magnesium casing
 Quick-connect mounting base with control
PCB
 Up to 4 units mounted on the LineScout
 Programmable with the possibility to track
a target
tj
z

y
θT

r
θP
ci x Video
LineScout: Control Centers
RF Video
Link
RF Data
Ground Control Unit (GCU) Link

Onboard
Video
Electronics
(OBE)

RS232
Intuitive Control: Mode Operation Strategy (MOS)

Z MOS REF X Y Z Z+Trig. Buttons

DIS1 ROL1
p·
TRAVEL DIS2 ROL2

W p·TRA p· ROT
FRAMES
ARM1 GRP1
p·
GRIPPERS ARM2 GRP2

Y X ARM1 ROL1
FLIP/CROSS G -p·TRA -p· -p· ROT DPL
ARM2 ROL2

ARM1-
ARM1- ROL1,2-
ROL1,2-
HOMING TRA ROT DPL+
ARM2-
ARM2- GRP1,2+

MOS: restricts
operator access to
the specific motors
relevant to the action
being performed
Front POVs: p = 1 Rear POVs: p = -1
LineScout Intuitive Control
Internal Status: Com.
Quality, Battery Level,
Temperature, Attitude,
etc.

Relevant Motors
 Graphical User Interface (GUI)
Status

Advanced Camera
Control

Resets or Assistive
Functions

Real-time
3D Model
MOS
Selection
LineScout: Robust and Safe Operation
Communication Watchdog
 Built-in the OBE main controller
 Acknowledges receipt of two distinct timer
resets
 Disable high-voltage power buses
Interlocks and Safety Rules
 Built-in the GCU computer, manages the
commands prior to the RF Data Link
 Examples:
 Approaching of mechanical stopper
 Relative positions of two distinct axis
 Restrict/allow Mode changing
LineScout: Assisting the Operator
Camera orientation presets Z tj

Vr
θT VZ
 Prompt the operator to follow an Y

optimal sequence r
VXY
θP
ci X

 Ease the operator workload with

automated inspection sequence
Automatic balancing of the load
on each wheel M4
L4
TRA TRA L1

M3
M1

Based on the current slope, offset

M2


the neutral position of frames
Automated crossing sequence
 Ease the task of crossing repetitive
obstacles, remain under operator’s
supervision
Robotic Arm: Implemented Applications
 Splice Condition Evaluation
 Visual Inspection
 Infrared Inspection
 Temporarily Repair of Broken Strand
 Torque Wrench for Bolted Assembly
 Other features: GPS, automatic inspection
report generation, semi-autonomous
crossing of obstacles, autonomous
sequences of inspection

Video
Validation of the Technology
 Inside Mock-up Lines
 Endurance Testing on Full-Scale Experimental Line
Validation of the Technology: Energized Test Beds

 EMI, shielding and corona effect

Video
Implemented Technology
 Developed for Challenging Operation Conditions
Field Deployment
Installation Methods
LineScout Technology: Live-Line Inspections

Visual Inspection of Large Water Crossings

and Splice Condition Evaluation
on Foreign Networks (since 2008)

Hydro-Québec's Network:
(since 2006)
- Vibration Dampers Emergency Retrieval
- Visual Inspection of River Crossings
- Splice Condition Evaluation
Video
LineScout 6000 Technology: Live-Line Inspections

Video

Hydro-Québec TransÉnergie's Network (2009): Aerial Marker and Ground Wire Inspection
Impact and Benefits
 Reliability of the network : introduction of performing state-of-the-art
inspection technologies into maintenance practices
 Equipment sustainability: better condition assessment and monitoring
resulting in optimal maintenance decision
 Undeniable impact on workers safety
 Enhancement of the maintenance strategy
 Project prioritization (refurbishment, replacement)
 Proactive maintenance approach
 Better risk management
 Increased efficiency and productivity in systematic inspection
 Access to new data (future applications: corrosion, inner layer broken strands)
 Quantification of defects by measurement data and high-definition images
 Follow-up on systems condition as results are archived
Impact and Benefits
 Equipment availability: new live-line working possibilities
 New tools and methods to adapt to changing system operation
environment
 New regulations Increase in domestic and import/export transit
 Aging assets
 Major climatic events
 Contribution to build solid regulatory submissions to Utilities Commission
 Contribution to achieve Technology Roadmap objectives
Robotics: Future Applications and Challenges Ahead

Applications Power Line Robots

Diagnostic: Private Companies Diagnostic:
-Visual, IR and UV -Improved Reliability
-Measurements Universities -Optimal Maintenance
-Etc. Decision
Live-
Live-Line Maintenance: Research Centers Live-
Live-Line Maintenance:
-Cleaning -Service Continuity
-Repairing -Safety Issues
-Replacement
-Installation Technical Specifications
-Etc. Enabling
Line Live–Line $ Technologies
Network Maintenance Work Methods
Business Case Configuration Personnel

Electric Utilities

Aging Assets, Energy Market, and Regulatory Commissions

Timeline
Robotics: Future Applications and Challenges Ahead

 Short and mid-term: new applications

 ACSR steel core corrosion monitoring
 Detection of broken strands (inner layer, under suspension
clamps, near clamped line components)
 Remote component replacement

 Long-term: towards fully autonomous systems

 Dead-end structure crossing
 Power autonomy and telecommunication systems
 Obstacle detection and identification
 Autonomous inspection and avoidance of obstacles
Our Partnerships: the Basics

 Partners access to LineScout Technology for inspection

through R&D collaboration with IREQ
 Joint funding for the development of new applications
valuable for both partners
(infrared imaging, conductor corrosion and broken strands detection)

 Adaptation of the technology to suit specific needs valuable

for both partners
(crossing deviation towers and suspended aerial markers, GPS features, etc.)

 Field experience, expertise, knowledge and technology

sharing
 Co-development of new technologies
 Opening-up on other collaboration opportunities
Conclusion
 LineScout Technology
 Development based on 10 years of experience in robotics
development applied to transmission line maintenance
 Rigorous validation of the technology thru Failure Mode end Effect
Analysis (FMEA), field testing and pilot projects
 Proven intuitive teleoperation for safe and reliable operation
 Robust and adapted technology for field operation conditions

 The future of transmission line robotics is likely to

grow thru collaborations among power utilities
Innovative technology,
strongly believed to be part of the solution for an
optimal asset management
Conclusion
We have presented a reliable, intuitive and effective
teleoperated robot that is used by Hydro-Québec
and other majors power utilities

 The future of such technology resides in:

 Enhanced teleoperation
 Maximizing the value of the Technology by adding sensors on
the LineArm
 Towards fully autonomous technology
Questions - Comments ?