Double conical wheels based mobile robot for aerial power distribution lines inspection

There are several proposals of robots for inspection of overhead power network, and most of them make use of UAVs (Unmanned Aerial Vehicle). Such proposals present disadvantages like, low controllability, small payload capability and short operation range. On this scenario, this work presents a robot that can move over the power line and has as features: three driven wheels, distributed control system and self-configuration frame. The robot can overpass all power line devices taking the advantage of its wheel's shape that provides a self-steering capability. The communications between each motor controller is done by IEEE 802.15.4 wireless communication standard. The robot can be controlled by an electrician to proceeds the inspection from the ground level or in an autonomous way. A prototype was constructed and was tested, in both, laboratory and field environment. The test results shown the effectiveness of the robot proposed.