A framework for the robotic automation of ultra-high voltage center inspection tasks

In this paper, we present the development of a framework for the task scheduling system to enable the robotic automation of UHVC (ultra-high voltage center) inspection. Equipment failures at UHVC could be significantly reduced if the inspection methodology allowed for condition-based maintenance (CBM) and the equipment status was systematically monitored. To address this, an autonomous mobile robotic vehicle for inspection using an onboard system of optical and thermal cameras has been developed. The framework enables the automatic determination of the inspection schedule based on a combined time-and condition-criterion, the Total Reliability Index (TRI). The TRI represents the probability of equipment failure based on the evaluation of the images obtained through thermal and optical cameras, as well as the component’s age and frequency of inspection, based on its specifications and its importance in the UHVC infrastructure. Depending on the TRI value, a decision is made as to whether a component should be inspected as part of the regular monthly inspection or if it requires more frequent monitoring. The developed framework allows the automated creation of inspection plans on a monthly and weekly basis, based on each component’s TRI and without requiring the user’s input. The framework also enables the user to create inspection plans that can be saved, modified, and scheduled for immediate or future execution. In all cases, the output of the framework is th e list of elements for inspection. The framework enables the execution of systematic, frequent, automated inspections and will lead to financial, administrative and information benefits.