The inspection of transmission line using suspended based robots has drawn great attention from many utility companies. Such an emerging smart technology has the advantages of energy efficiency, cost effectiveness, safety, non-service interruption, and the potential of substituting for the traditional inspection method using linemen with the help of helicopter. In this paper, we propose a routing algorithm to identify locations where the ground control station needs to be deployed when using suspended robot in transmission line inspection. The motion and location between the suspended robot and the ground team are coordinated. The bidirectional data transmission between two sides can be guaranteed so that the live signal can be received and processed, robot motion can be controlled, large size obstacles can be appropriately cleared, and health condition of the transmission line can be captured. A case study based on a segment of the transmission line in the state of Missouri of the United States is implemented to validate the effectiveness of the proposed routing algorithm. Results of the case study illustrate that the performance from both economic and environmental aspects can be significantly improved compared to the traditional inspection mode employing helicopter and linemen as well as an ad-hoc routing algorithm currently used by some utility companies to guide the suspended robot in transmission line inspection. Specifically, compared to the ad-hoc routing algorithm and helicopter with photoelectric stabilized pod, the proposed algorithm can reduce the unit cost by 7.55% and 8.04%; and cut the unit emission by 21% and 98%, respectively.

使用悬挂式机器人对传输线的检查引起了许多公用事业公司的极大关注。这种新兴的智能技术具有能源效率，成本效益，安全性，非服务中断的优势，并具有在直升机的帮助下替代使用巡线员的传统检查方法的潜力。在本文中，我们提出了一种路由算法，以在使用悬浮机器人进行传输线检查时识别需要部署地面控制站的位置。悬浮机器人和地面团队之间的运动和位置得到协调。可以确保两侧之间的双向数据传输，从而可以接收和处理实时信号，可以控制机器人的运动，可以适当地清除大尺寸的障碍物，可以捕捉到传输线的健康状况。基于美国密苏里州输电线路的一部分进行了案例研究，以验证所提出的路由算法的有效性。案例研究的结果表明，与采用直升机和巡线员的传统检查模式以及一些公用事业公司当前用于引导悬浮机器人进行临时路由的传统巡检模式相比，经济和环境方面的性能都可以得到显着改善。传输线检查。具体而言，与自组织路由算法和具有光电稳定吊舱的直升飞机相比，该算法可将单位成本分别降低7.55％和8.04％；并分别减少了21％和98％的单位排放量。