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Standards Development
This standard describes general technical requirements for legged robot system used in cable tunnel environments(including GPS signal shielded areas, confined spaces, and other operational scenarios). It specifies the composition of robot system and requirements for their functional performance, including movement, inspection, navigation, communication, power supply, anti-electromagnetic interference, application environment adaptability and other performances of legged robots.
In recent years, robots have been widely used for cable tunnel inspection worldwide. Countries such as the United States, Germany, Japan, South Korea, Italy, Belgium, and others have been exploring robotic technologies for this purpose. For example, in the United States, a set of inspection robots capable of moving along cables has been developed, equipped with multiple sensors for data detection. In Germany, an electric inspection vehicle that moves on tracks within cable tunnels is being applied; it is equipped with various sensors and automatic fire extinguishing devices. In China, there are approximately 43,000 km of cable tunnels, and more than 8,000 robots are currently used to inspect 4,870 km of cable tunnels across 15 cities. China is promoting the large-scale application of inspection robots, and this number is expected to reach 30,000 by 2030.
Several CIGRE technical brochures addressing the application of robotics in electric power systems have been published or are currently under development. In 2018, Working Group (WG) B2.52 published Technical Brochure (TB) 731, entitled The Use of Robotics in Assessment and Maintenance of Overhead Lines. In 2020, WG B3.47 released TB 807, which provides an overview of existing robotic applications in substations for construction, inspection, maintenance, and operation. Additionally, Task Force (TF) B1.93 is presently developing a CIGRE white paper on the Application of Autonomous Platforms/Robots in Power Cable Operation and Maintenance.
The ISO 18646-1/-2/-3 series of standards specify performance criteria and related test methods for service robots, covering aspects such as locomotion, navigation, and manipulation. This proposal, however, specifies technical requirements for legged robots intended for cable tunnel inspection applications. The application scenarios differ between these standards, leading to distinct robot requirements.
The ISO 10218-1/-2 series of standards outline safety requirements and guidelines for the design, protective measures, and integration of industrial robots, aiming to avoid, eliminate, or adequately reduce risks associated with their use. In contrast, the purpose of this proposal is to clarify the technical requirements specific to cable tunnel inspection robots, indicating a difference in focus between the two.
IEEE 2991 provides general technical specifications for live-working robots used on 6 kV to 35 kV distribution lines. It defines robot components, specifies basic functions and parameters for each unit, and establishes general technical requirements for insulation, electromagnetic compatibility (EMC), mechanical properties, control systems, and safety. Additionally, it offers general methods for testing robot performance. Again, the application scenarios differ from those considered in this proposal, resulting in different robot requirements.
In summary, ISO, IEC, CIGRE, and IEEE have not yet issued relevant standards specifying the technical requirements for legged robots used in cable tunnel inspection. The technical content of this standard is innovative and does not duplicate existing standards.
Conducting regular cable tunnel inspections is essential for identifying defects and potential hazards in cable equipment and tunnel infrastructure, thereby ensuring the stable operation of the power grid. Compared to manual inspection, robot-based cable tunnel inspection offers the following advantages:
Enhanced Safety: Robotic inspections eliminate personnel exposure to hazardous conditions such as toxic gases, electric shock, falls, or drowning. This is especially critical during sudden cable failures, where the safety of on-site staff could be severely compromised. The use of robots significantly improves personnel safety.
Continuous and Reliable Operation: Robots are capable of performing round-the-clock inspections without interruption. This not only increases the frequency and duration of inspections but also improves the reliability and effectiveness of monitoring.
Cost Efficiency: By reducing the need for manual labor and minimizing cable failure rates through early fault detection, robot-based inspection helps save labor costs and further lowers overall operation and maintenance expenses.
Legged robots possess excellent mobility, making them highly suitable for navigating the complex environments of cable tunnels. At present, there is a lack of international standards specifying the functional and performance requirements for robots used in cable tunnel inspection. This absence leaves robot manufacturers and inspection units without authoritative references. As a result, a variety of legged robots with widely varying performance characteristics are available on the market. There is an urgent need to establish standards that define general technical requirements for such robots.
This standard aims to provide general technical requirements for legged robots used in cable tunnel inspection, offering guidance for their design, production, manufacturing, and development. It is intended to enhance robot quality, promote the application and advancement of robotic cable tunnel inspection technology, and stimulate market demand for these robots. In addition, two other parts of the series standards for self-sufficient robots in tunnel applications have been planned, including:
1. Part 2: Testing Methods
2. Part 3: Application Technical Guidelines.
This proposal was discussed at the plenary meeting of IEC TC129, where it was recognized as both necessary and feasible
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