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<p>The exposure of transmission lines in close proximity to coastal or industrial environments to high levels of pollution from chemical substances and salts is a factor that can degrade the performance of electrical systems. Given this scenario, the washing of insulators is an essential measure to mitigate the adverse effects of these pollutants. However, the process is often risky considering that technicians work in close proximity to live equipment. To address this safety concern, a drone-robot for automatic cleaning of insulator chain is proposed. This equipment, adapted with a high-pressure water pump, was designed to perform the task of cleaning insulators on live lines, thus providing a superior level of safety for technical personnel. The drone is equipped with an RGBD camera and an onboard computer, enabling tracking of the target insulator for cleaning using artificial intelligence. The movement of the drone is determined by the generation of setpoints for the flight controller based on this tracking. The results were obtained from experimental tests conducted on high voltage power transmission lines, demonstrating consistent performance in terms of flight stability and cleaning efficiency. These findings provide strong evidence of the operational robustness and practical feasibility of the proposed drone-robot system in high-risk electrical environments.</p>

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AI-Based Control of a Drone-Robot for Automatic Cleaning of Power Line Insulator

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年6月23日

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  • Kenji Fabiano Avila Okada,
  • Rogério Sales Gonçalves,
  • Aniel Silva de Morais,
  • Natan Nunes Oliveira,
  • Pedro Augusto Queiroz de Assis,
  • Rafael Lins Nobre,
  • Daniel Edgardo Tió Sudbrack,
  • Rafael Zimmermann Homma

摘要

The exposure of transmission lines in close proximity to coastal or industrial environments to high levels of pollution from chemical substances and salts is a factor that can degrade the performance of electrical systems. Given this scenario, the washing of insulators is an essential measure to mitigate the adverse effects of these pollutants. However, the process is often risky considering that technicians work in close proximity to live equipment. To address this safety concern, a drone-robot for automatic cleaning of insulator chain is proposed. This equipment, adapted with a high-pressure water pump, was designed to perform the task of cleaning insulators on live lines, thus providing a superior level of safety for technical personnel. The drone is equipped with an RGBD camera and an onboard computer, enabling tracking of the target insulator for cleaning using artificial intelligence. The movement of the drone is determined by the generation of setpoints for the flight controller based on this tracking. The results were obtained from experimental tests conducted on high voltage power transmission lines, demonstrating consistent performance in terms of flight stability and cleaning efficiency. These findings provide strong evidence of the operational robustness and practical feasibility of the proposed drone-robot system in high-risk electrical environments.