AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures
CoRR(2024)
摘要
Large-scale infrastructures are prone to deterioration due to age,
environmental influences, and heavy usage. Ensuring their safety through
regular inspections and maintenance is crucial to prevent incidents that can
significantly affect public safety and the environment. This is especially
pertinent in the context of electrical power networks, which, while essential
for energy provision, can also be sources of forest fires. Intelligent drones
have the potential to revolutionize inspection and maintenance, eliminating the
risks for human operators, increasing productivity, reducing inspection time,
and improving data collection quality. However, most of the current methods and
technologies in aerial robotics have been trialed primarily in indoor testbeds
or outdoor settings under strictly controlled conditions, always within the
line of sight of human operators. Additionally, these methods and technologies
have typically been evaluated in isolation, lacking comprehensive integration.
This paper introduces the first autonomous system that combines various
innovative aerial robots. This system is designed for extended-range
inspections beyond the visual line of sight, features aerial manipulators for
maintenance tasks, and includes support mechanisms for human operators working
at elevated heights. The paper further discusses the successful validation of
this system on numerous electrical power lines, with aerial robots executing
flights over 10 kilometers away from their ground control stations.
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