arXiv 2401.023432024-01-04cs.RO

AERIAL-CORE：用于电力基础设施巡检与维护的AI驱动空中机器人

AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures

Anibal Ollero, Alejandro Suarez, Christos Papaioannidis, Ioannis Pitas, Juan M. Marredo, Viet Duong, Emad Ebeid, Vit Kratky, Martin Saska, Chloe Hanoune, Amr Af… 展开作者

Anibal Ollero, Alejandro Suarez, Christos Papaioannidis, Ioannis Pitas, Juan M. Marredo, Viet Duong, Emad Ebeid, Vit Kratky, Martin Saska, Chloe Hanoune, Amr Afifi, Antonio Franchi, Charalampos Vourtsis, Dario Floreano, Goran Vasiljevic, Stjepan Bogdan, Alvaro Caballero, Fabio Ruggiero, Vincenzo Lippiello, Carlos Matilla, Giovanni Cioffi, Davide Scaramuzza, Jose R. Martinez-de-Dios, Begona C. Arrue, Carlos Martin, Krzysztof Zurad, Carlos Gaitan, Jacob Rodriguez, Antonio Munoz, Antidio Viguria

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AI总结：

本文提出首个结合多种创新空中机器人的自主系统AERIAL-CORE，用于电力基础设施的超视距巡检与维护，配备空中机械臂及高空作业支持机制，并在电力线上成功验证了10公里以上的飞行能力。

摘要：

大型基础设施因老化、环境影响和繁重使用而容易发生退化。通过定期巡检和维护来确保其安全，对于防止可能严重影响公共安全和环境的事故至关重要。这在电力网络的背景下尤为相关，电力网络虽然是能源供应的关键，但也可能成为森林火灾的源头。智能无人机有潜力彻底改变巡检和维护，消除人类操作员面临的风险，提高生产力，缩短巡检时间，并改善数据收集质量。然而，目前空中机器人领域的大多数方法和技术主要是在室内测试平台或严格受控条件下的室外环境中进行试验的，且始终在人类操作员的视线范围内。此外，这些方法和技术通常是在孤立状态下进行评估的，缺乏全面的集成。本文介绍了首个结合了各种创新空中机器人的自主系统。该系统专为视距外的超视距巡检而设计，配备了用于维护任务的空中机械臂，并包含为高空作业的人类操作员提供的支持机制。本文进一步讨论了该系统在多条电力线上的成功验证，其中空中机器人在距离地面控制站超过10公里的地方执行了飞行任务。

英文摘要：

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.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。