Scholarlink

This paper describes the aerial system developed to improve and optimize underground gallery inspection operations. The proposed system records visible and thermographic videos to check for faults and hot spots in the underground cables, and also collects environmental conditions (e.g. temperature or flammable gases) using onboard sensors. This allows technicians to inspect cables visually without entering the galleries, avoiding inherent dangers. For this, a GNSS-denied autonomous navigation solution has been developed and validated in a real environment (TRL 7), allowing to confirm the feasibility of the full aerial robotic solution.

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Aerial, Autonomous and Safe Solution for the Inspection of Underground Power Line Galleries

  • 会议论文

  • 发表日期：

    2025年

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  • Marco A. Montes-Grova,
  • Daniel Díaz-Gil,
  • Francisco J. Pérez-Grau,
  • Antidio Viguria

摘要

This paper describes the aerial system developed to improve and optimize underground gallery inspection operations. The proposed system records visible and thermographic videos to check for faults and hot spots in the underground cables, and also collects environmental conditions (e.g. temperature or flammable gases) using onboard sensors. This allows technicians to inspect cables visually without entering the galleries, avoiding inherent dangers. For this, a GNSS-denied autonomous navigation solution has been developed and validated in a real environment (TRL 7), allowing to confirm the feasibility of the full aerial robotic solution.