Most of the current power line inspection robots use cameras and LiDARs to inspect the power line surfaces and the surrounding environment. But it is still difficult to detect the internal defects of the power lines. In this letter, the design and implementation of LineSpyX, a novel power line inspection robot based on digital radiography (DR), is introduced to solve the problem of non-destructive testing (NDT) of the overhead Aluminum Conductor Composite Core (ACCC) wires. The proposed robot has a stable wrapped mechanical structure with a moving system, a live work system, and a NDT system. The wheeled moving system enables the robot to move on the wires and cross obstacles such as vibration dampers. The NDT system consists of a portable X-ray generator and a DR detection panel. When the robot performs the inspection task, the X-ray goes up through the ACCC wire to the panel, where the X-ray images of the internal carbon fiber cores are recorded. A deep learning based defect diagnosis method combined with manual diagnosis is proposed to detect potential defects. The main functionalities of the developed robot are verified by lab experiments and field tests.

中文翻译：

---

LineSpyX：基于数字射线照相的电力线路检测机器人

目前的电力线路巡检机器人大多使用摄像头和激光雷达对电力线路表面及周围环境进行巡检。但是仍然很难检测到电源线的内部缺陷。在这封信中，介绍了一种基于数字射线照相 (DR) 的新型电力线路检测机器人 LineSpyX 的设计和实现，以解决架空铝导体复合芯 (ACCC) 导线的无损检测 (NDT) 问题。 . 所提出的机器人具有稳定的包裹机械结构，带有移动系统、带电工作系统和无损检测系统。轮式移动系统使机器人能够在电线上移动并穿越减振器等障碍物。NDT 系统由便携式 X 射线发生器和 DR 检测面板组成。当机器人执行巡检任务时，X 射线通过 ACCC 线向上到达面板，在那里记录内部碳纤维芯的 X 射线图像。提出了一种结合人工诊断的深度学习缺陷诊断方法来检测潜在缺陷。开发的机器人的主要功能通过实验室实验和现场测试得到验证。