MAD Robot: Concept and Prototype Description of the Robot for Multi-Spectral Power Equipment Diagnostics. Part I

ArduPilot, specifically ArduRover, is a widely used firmware for rapid prototyping ground and above-water mobile robots. For the last decade, it has progressed from a simple controller for Do-It-Yourself(DIY) projects to an ecosystem, including software and compatible hardware, successfully used in multiple industrial applications. This research presents the concept of an industrial-grade rover for automatic power equipment diagnostics based on the ArduPilot ecosystem and controlled via the standard Mission Planner software. The rover's control system includes a CUAV X7 controller running ArduRover firmware for navigation and mission program execution, a B&R X90 motion controller, and an Intel Core i7-based industrial computer to control multi-spectral cameras and store their data. Additionally, the robot is equipped with multiple communication channels, including a 1.4 GHz Mesh radio modem and an LTE transceiver. This part of the research presents a core concept of a scalable inspection robot's control system and software for generating its missions. In the next part, the advantages and disadvantages of this concept are discussed based on the operating experience of the robot's prototype during the inspection of 220 kV power equipment on multiple power plants.