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ROBOTICS APPLIED IN ELECTRICAL POWER SYSTEMS

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					   ROBOTICS APPLIED IN
ELECTRICAL POWER SYSTEMS

                           1
             OVERVIEW

• Introduction
• Mobile robot for hot spot monitoring
  in electric power substation
• Automatic elevator for safety
  improvement in the power
  distribution lines maintenance
• Conclusions
• References

                                         2
            INTRODUCTION
The utilization of robotics in electrical power
  systems helps to improve safety and to
  reduce maintenance costs. Two examples
  are discussed here.
1) Mobile robot for hot spot monitoring in
  electric power substation:-
     The use of infrared cameras for fault
  detection is becoming a common practice
  in the maintenance routines of different
  substation components. The infrared
  camera mounted on the robot, can be
  automatically moved inside the substation
  and positioned for collecting images of
  possible critical points. The robot deals
  with a real time monitoring system inside
  the substation aiming at safety during
  operation.
                                     Cont:d…   3
…Cont:d

2) Automatic elevator for safety
  improvement in the power distribution
  lines maintenance :-
      The conventional methods employed
  for maintenance of electric power
  distribution lines, include accidents like
  fall from the ladder. By applying the robotic
  concept, an automatic elevator has been
  developed. It has a computer based
  controller that has a set of routines and
  can acquire several sensors’ information to
  perform more reliable and safe
  movements, also helping the electrician to
  avoid dangerous operations and providing
  emergency self-operation.

                                              4
1) Mobile Robot for hot spot monitoring:
Basic description of the system
-The robot is carried over a special steel
cable. It allows the infrared camera to be
directed adequately towards some critical
points to be watched
-The power for robot, camera and other
devices is obtained from the suspended
cables (240 V AC)




                                             5
                                    Cont:d…
…Cont:d

-The robot moves itself using the steel cable
   as guide with two pulleys (one metallic and
   another made of polyurethane)
-The metallic pulley is responsible for the
   traction of the robot using an electric
   motor powered by a 12 V DC source inside
   the robot
-The polyurethane pulley is connected to the
   mechanic odometer, aimed at positioning
   well the robot in the desired position
-Inside the robot, a 240 V (AC) to 12 V (DC)
   converter is utilized to power the
   microprocessor and motor
                                            6
-The commuication between the robot and
the control room is performed by a WiFi
system supporting up to 54 mbps.




                                          7
DESCRIPTION OF THE ROBOT
COMPONENTS:-
1) Camera:
   -Thermographic Images
   -Spectral Range : 7.5 to 13 micrometers
    (infrared wavelength)
   -Temperature range : -20 to 250 degree
    Celsius




                                    Cont:d…
                                          8
…Cont:d
2) DC Motor : 12 V DC, 300 W
3) Motor Controller : with a PIC
  microcontroller that receives signal from
  RS 232 port.
     -PWM speed control. -Receives signal
  from the odometer
4) RS232 Ethernet converter, RS 232-485
  converter and hub communication
  interfaces
5) Pan Tilt : -range of pan movement = 360
  degrees (around the horizontal axis)
              -range of tilt movement = 180
  degrees (in the vertical axis)
6) Access Point
                                              9
7) Patch Antenna
10
        Operation of the Robot
     (automatic monitoring mode)
1-Once arriving to the targeted substation
  component, the robot stops
2-The pan-tilt is pointed towards the targeted
  component. This is done according to the
  co-ordinates stored in the control room’s
  desktop
3-The image is taken and sent to the control
  room
4-The robot goes on scanning until it finds
  the next stop signal
  The Robot can be used also in Manual
  Adjusting Mode                            11
12
View of the robot under the steel
cable during the monitoring test
                                    13
Thermal images of 4 sections showing
low temperatures of the bus (darker
colours) in contrast to metallic
surfaces exposed to the sun (brighter
colours)
                                     14
2) Automatic elevator for safety
improvement in the power
distribution lines maintenance
• The elevator is coupled in a light truck
  and it can lift the electrician towards high
  places using electric motors
• The elevator structure is composed by the
  two stage telescopic column and a
  platform
• All motions are achieved by electric
  winches, pulleys and steel cables
• The entire system is monitored by position
  sensors and controlled by a Programmable
  Logic Controller (PLC)
                                            15
Automatic Elevator



  Working Method     16
Degrees of Motion


The elevator has 4 mobility degrees
  (a) to set the main column in the vertical
  working position or unset to the horizontal
  transportation position
  (b) to move the platform on which the
  electrician stands, upward or downward
  (c) to incline the column around a
  horizontal axis
  (d) to rotate the column around a vertical
  axis

                                            17
Sensors


• To limit the rotation and inclination
  of the telescopic column
• To limit the upward/downward
  motion of the platform
  (Besides limits defined by the
  sensors, mechanical limits are also
  installed to assure safe operation)


                                          18
Controls

• PLC supervises and controls all actions
  of the system
• The electrician standing on the
  platform, can command all motions of
  the elevator by a wireless remote
  control
• All motions can also be controlled from
  the control panel placed at the truck
• In case of any emergency situation, the
  electrician on the ground can press the
  EMERGENCY BUTTON
                                        19
The column being set to the working
vertical position
                                  20
Load test of the automatic elevator 21
Applications

• In the maintenance
  activities of urban
  distribution lines
• To repair lamps in
  public illumination,
  which is a very
  frequent
  maintenance            Electrician reaching
  activity                        lamp by the
• Etc…                    automatic elevator

                                           22
          CONCLUSIONS
       The hot spot monitoring system
presented in this paper can be an efficient
tool for fault detection and its subsequent
prevention during the operation of a
substation. A system was developed, that
records thermal images from an infrared
camera in order to perform periodic
examinations of thermal behavior in
strategic points. The use of automatic
system for receiving such information , in
which the operator can configure all the
parameters, shall help in the detection of
faults at their initial stages.
                                Cont:d…23
…Cont:d


          The automatic elevator
 presented in this paper is a
 solution for some existing
 problems related to
 maintenance of power
 distribution lines. The elevator
 helps the electrician to climb
 higher locations with almost no
 risk of accident and injury.

                                24
                  References
• J. K. C. Pinto; M. Masuda; L. C. Magrini; J. A.
  Jardini, Fellow Member, IEEE; M. V. Garbelloti
  “Mobile robot for hot spot monitoring in electric
  power substation”, IEEE-PES Transmission and
  Distribution (Exposition & Conference) April 21st
  – 24th 2008, Chicago Illinois ,USA
• R. A. Roncolatto, N. W. Romanelli, CPFL-Paulista,
  A. Hirakawa, O. Horikawa, D. M. Vieira, R.
  Yamamoto and V. C. Finotto, USP “Robotics
  applied for safety improvement in the power
  distribution    lines  maintenance”,      IEEE-PES
  Transmission and Distribution (Exposition &
  Conference) April 21st – 24th 2008, Chicago
  Illinois ,USA
                                         Cont:d…
                                             25
…Cont:d
• Ito K., Fujii H., Matsuno F “An information
  collecting     robot   for  non-professional
  operator”, Proceedings of the 2005 IEEE
  International Workshop on Safety, Security
  and Rescue Robotics, Jun 2005 pp.176-181
• Richard A. Epperly, G. Erich Heberleir and
  Lowry G. Eads “Thermography, A Tool for
  Reliability and safety” , IEEE Industry
  Applications Magazine January/February
  1999
• R. A. Roncolatto, N. W. Romanelli, A. R.
  Hirakawa, O. Horikawa, M. Silvério and S.
  Amancio “Automatic Elevator System for
  Maintenance Services” , Proceedings of
  ESMO 2006 - IEEE PES 11th International
  Conference on Transmission and
  Distribution Construction, Operation and
  Live-Line Maintenance, Oct/2006,
  Albuquerque, New Mexico, USA               26
Thank You



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DOCUMENT INFO
Description: The utilization of robotics in electrical power systems helps to improve safety and to reduce maintenance costs. Two examples are discussed here. 1) Mobile robot for hot spot monitoring in electric power substation:- 2) Automatic elevator for safety improvement in the power distribution lines maintenance :-