ANNA UNIVERSITY: CHENNAI 600 025.

BONAFIDE CERTIFICATE

Certified that this project report “DESIGN OF ANALYSING AND

INSPECTING HIGH VOLTAGE TRANSMISSION LINE USING
EMBEDDED TECHNOLOGY” is the bonafide work of “ABEL
CHRISTOPHER.P (211015105001), HARISH.B (211015105008), SATHISH
KUMAR.K(211015105301)” who carried out the project work under my
supervision.

SIGNATURE SIGNATURE
Dr.B.T.GEETHA,M.E.,Ph.D Dr.B.T.GEETHA,M.E.,Ph.D

HEAD OF THE DEPARTMENT SUPERVISOR

PROFESSOR
Department of Electrical and
Electronics Engineering.
JeppiaarMaamallan Engineering
college, Sriperumpudur.
PROFESSOR
Department of Electrical and
Electronics Engineering.
JeppiaarMaamallan Engineering
College, Sriperumpudur.

Submitted for the project viva voce held on __________________

INTERNAL EXAMINER EXTERNAL EXAMINER

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 ACKNOWLEDGEMENT

We wish to express our sincere thanks to the people who extended their help
during the course of our project work.

We would like to thank Col. Dr.JEPPIAAR, M.A.B.L.,Ph.D., Founder

whose words has inspired us and we are greatly and profoundly thankful to our
honorable Chairman Dr. MARIAZEENA JOHNSON.,B.E., M.B.A., M.Phil.,
Ph.D., for facilitating us with this opportunity. We also record our sincere thanks to
our honorable President Dr. MARIE JOHNSON.,B.E., M.B.A., M.Phil., Ph.D.,
for her kind support to take up this project.

We thank our Principal Dr.K.V.KARTHIKEYAN.,M.E.,Ph.D.,for

expressing his keen interest during this project work and also in our academic side
of B.E. programme.

We are deeply indebted and extremely grateful to our Head of the Department
Dr.B.T.GEETHA.,M.E.,Ph.D., Electrical and Electronics Engineering
Department for her moral support.

We would like to express our sincere thanks and deep sense of

gratitude to our Project Coordinator Dr.B.T.GEETHA.,M.E.,Ph.D.,for her
valuable guidance, suggestions paved way for the successful completion of the
project work.

We would like to express our sincere thanks to our Project Supervisor

Dr.B.T.GEETHA.,M.E.,Ph.D., for her constant technical support and stupendous
encouragement, which enabled us to complete our project successfully.

Further the acknowledgement would be incomplete if we would not mention

a word of thanks to our most beloved Parents whose continuous support and
encouragement all the way through the course has led us to pursue the degree and
confidently complete the project.

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 ABSTRACT

The inspection of high-voltage transmission lines is a dangerous and time-

consuming job that relies on especially trained workers operating tens of meters
above the ground, and close to live lines with thousands of volts. Otherwise it can
be inspected using telescope and helicopters. These working modes have many
disadvantages, such as long inspection cycle, high working intensity, huge expense
and high danger. It is difficult to assure the inspection quality in mountain areas,
grasslands and aboriginal forests because of severe environments. This project
describes the proto-type mobile robot, which is capable of walking on the overhead
transmission lines in the live environment. Its ultimate purpose is to inspect the
transmission lines through cameras and send the data to the ground. The robot
consists of two motors, four wheels, sensors, wireless cameras etc. Inspection robot
which is equipped with various sensors for parameter sensing, after sensing the
parameters and conditions of the parallel transmission lines, robot moves forward
from starting point till the ending point of the parallel line .This robot is designed
in such a way that it can skip the suspensions and spacers which are obstacles on
the transmission line. The line inspecting robot then sends all of these input
parameters to a station which is nothing but a personal computer situated at stations
side using transceivers and wireless communication.

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 TABLE OF CONTENT

CHAPTER NO TITLE PAGE NO

ABSTRACT iv

LIST OF TABLES

LIST OF FIGURES

1 INTRODUCTION 1
1.1 OBJECTIVE 1
1.2 DEVELOPMENT OF THE 2

PROJECT

2 LITERATURE SURVEY 4

3 EXISTING SYSTEM 7
3.1 FEATURES OF TRANSMISSION 7

LINE

3.2 NEED OF INSPECTING 8

TRANSMISSION LINE

3.2 FACTORS OF TRANSMISSION 9

LINE FAULT

3.2.1 TYPHOON FACTORS 9

3.2.2 LIGHTINING FACTORS 9

3.2.3 OVERLYING ICE FACTORS 9

3.2.4 FILTHY FACTORS 10

3.2.5 EXTERNAL DAMAGE 10

FACTOR

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 3.3 METHODS OF INSPECTION 10

HV LINE

3.3.1 LINE MAN INSPECTION 10

3.3.2 AERIAL INSPECTION 11

3.3.3 DRONE INSPECTION 12

3.4 DISADVANTAGE OF EXISTING 13

SYSTEM

4 PROPOSED SYSTEM 14

4.1 ENVIRONMENT OF 14

TRANSMISSION LINE

4.2 BASIC CONCEPT 14

4.3 PROPOSED MECHANISM 14

4.4 ACROBITIC MODE 15

4.5 CONTROL UNIT 16

4.6 CIRCUIT REPRESENTATION 18

4.7 ADVANTAGE OF PROPOSED 18

SYSTEM

5 HARDWARE COMPONENTS 19
5.1 ARDUINO UNO 19

5.1.1 INTRODUCTION 19

5.1.2 ATMEGA 328P 20

ARCHITECTURE

5.1.3 BASIC WORKING 21

5.1.4 PIN DESCRIPTION 23

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 5.1.5 PIN DESCRIPTION AND 26

FUNCTION

5.1.6 ARDUINO UNO DESCRIPTION 27

5.17 COMMUNICATION 28

5.2 BO MOTOR

5.2.1 INTRODUCTION 29

5.2.2 WORKING 29

5.2.3 SPECIFICATION 31

5.3 SERVO MOTOR 32

5.3.1 INTRODUCTION 31

5.3.2 SERVO MECHANISM 32

5.3.3 WORKING 33

5.3.4 CONTROLLING OF SERVO 33

MOTOR

5.3.5 MG995 SERVO MOTOR 35

5.3.6 PIN CONFIGURATION 35

5.3.7 MG995 FEATURES AND 36

ELECTRICAL CHARECTERS

5.3.8 CONFIGURATION OF MG995 37

5.3.9 APPLICATIONS 38

5.4 L293D MOTOR DRIVER 39

5.4.1 WORKING PRINCIPLE 39

5.4.2 PIN DIAGRAM 40

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 5.5 BLUETOOTH MODULE 41

5.5.1 INTRODUCTION 41

5.5.2 FEATURES OF HC-05 41

BLUETOOTH MODULE

5.5.3 HARDWARE FEATURES 42

5.5.4 SOFTWARE FEATURES 42

5.5.5 PINS OF HC-05 MODULE 43

5.5.6 PIN DESCRIPTION 44

5.5.7 MODES OF OPERATION 44

5.6 GSM SIM900A MODULE 45

5.6.1 INTRODUCTION 45

5.6.2 FEATURES 45

5.6.3 WORKING 46

5.6.4 PIN DIAGRAM 47

5.6.5 PIN DESCRIPTION 48

5.6.6 APPLICATIONS 48

5.7 INFRARED SENSOR 49

5.7.1 ELEMENTS OF INFRARED 49

DETECTION SYSTEM

5.7.2 PIN DIAGRAM 51

5.8 CURRENT SENSOR 52

5.8.1 INTRODUCTION 52

5.8.2 SENSOR SPECIFICATION 53

5.8.3 PIN DIAGRAM OF ACS712 54

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 5.9 TEMPERATURE SENSOR 54

5.9.1 INTRODUCTION 54

5.9.2 PIN DIAGRAM OF LM35 55

5.9.3 PIN DESCRIPTION 56

5.10 RASPBERRY PI 57

5.10.1 SPECIFICATION 58

5.11 NOIR IR CAMERA 60

5.12 LEAD ACID BATTERY 61

6 SOFTWARE PROFILE 63

6.1 ARDUINO IDE SOFTWARE 64

6.1.2 INTRODUCTION 64

6.1.2 IDE FEATURES 64

6.1.3 SKETCH 65

6.2 PROTEUS 7.0 SIMULATION TOOL 65

7 EXPERIMENTAL RESULT 66

7.1 STIMULATION RESULTS 66

7.2 HARDWARE RELATED OUTPUT 69

CONCLUSION 72

FUTURE ENHANCEMENT 73

REFRENCES 75

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 LIST OF FIGURES

FIGURE FIGURE NAME PAGE NO

NO

3.1 A LINE MAN CLIMBING TOWARDS 11

THE TRANSMISSION LINE

3.2 A HELICOPTER FLYING ALONG AN 12

ELECTRIC TRANSMISSION LINE
WITH A LINE MAN

3.3 A DRONE FLYING TO VIEW THE 12

TRANSMISSION BY CAMERA

4.1 DIAGRAM OF PROPOSED ROBOT 16

CHASSIS MECHANISM

4.2 BLOCK DIAGRAM OF PROPOSED 17

SYSTEM

4.3 CIRCUIT DIAGRAM 18

5.1 DIAGRAM OF ARDUINO UNO 19

DEVELOPMENT BOARD

5.2 ARCHITECTURE OF ATMEGA 328P 20

MICROCONTROLLER

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5.3 PIN DIAGRAM OF ATMEGA 328P 23
MICROCONTROLLER

5.4 DC BO GEAR MOTOR 29

5.5 DC GEARED MOTOR 30

5.6 TIMING DIAGRAM FOR SERVO 34

MOTOR

5.7 BATTERY 35

5.8 MG995 CONFIGURATION 37

5.9 TIMING DIAGRAM OF PWM 38

5.10 PIN DIAGRAM OF DRIVER 40

5.11 BLUETOOTH MODULE 42

5.12 PINS OF HC-05 MODULE 43

5.13 GSM MODULE 45

5.14 PIN DIAGRAM OF GSM MODULE 47

5.15 INFRARED DETECTION SYSTEM 49

5.16 PIN DIAGRAM OF IR SENSOR 52

5.17 PIN DIAGRAM OF CURRENT SENSOR 54

5.18 TEMPERATURE SENSOR 55

5.19 LM35 TEMPERATURE SENSOR 55

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5.20 NOIR IR CAMERA 58

7.1 SCHEMATIC VIEW OF ROBOT 68

CHASSIS

7.2 2D DIAGRAM OF ROBOT CHASSIS 69

7.2 PROTEUS RESULT OF ELECTRONIC 70

CONTROL UNIT

7.3 TOP VIEW OF BODY 71

7.4 RASPBERRY PI3 WITH NOIR 71

CAMERA

7.5 ELECTRONIC CONTROL UNIT 72

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 LIST OF TABLES

TABLE NO TABLE NAME PAGE NO

5.1 PIN DESCRIPTION OF ARDUINO 24

5.2 SPECIFICATION 33

5.3 PIN CONFIGURATION FOR SERVO 38

MOTOR

5.4 PIN DESCRIPTION OF GSM MODULE 51

5.5 SENSOR SPECIFICATION 56

5.6 PIN CONFRIGUATION OF TEMPERATURE 59

SENSOR

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