Prototype Crawling Robotics System for Remote Visual Inspection of High-MastLight Poles

摘要

This report presents the results of a project to develop a crawling roboticssystem for the remote visual inspection of high-mast light poles in Virginia. The first priority of this study was to develop a simple robotics application that would reduce hazards to the public and employees of the Virginia Department of Transportation and increase the efficiency of inspections. The prototype crawling robotics system developed (POLECAT-1) consists of a magnetically attached crawler for vertical and horizontal scanning of the outside of poles with a remote visual inspection device. Laboratory and field tests evaluated the crawler's mechanical performance and video resolution. The robot can inspect flat, cylindrical, and tapered surfaces with longitudinal taper of 12 mmm/m and a minimum outside diameter of 200 mm; change the direction of the inspection from vertical to horizontal and vice versa on these surfaces; and overcome vertical obstacles up to 7 mm high. The system provides better crack resolution than conventional methods. This work holds great potential for significant costs savings with regard to inspections as well as improved safety.