Deployment Considerations of Autonomous Robots in HVDC Converter Stations

Autonomous robotic inspection provides a means to overcome these limitations by enabling routine, repeatable inspections in hazardous or access-restricted environments for predictive maintenance. While prior work has demonstrated robotic inspection in outdoor substations and, separately, inside HVDC converter halls, these efforts have largely treated the two environments independently. This has resulted in fragmented solutions and environmentspecific specifications, whereas utilities increasingly seek a unified approach that supports inspection across the entire HVDC facility.

The objective of this paper is to define a vendor-neutral functional specification framework for autonomous inspection robots capable of operating in both indoor HVDC valve halls and outdoor substation yards. The focus is on specifying required capabilities rather than prescribing robot designs or technologies, with the goal of supporting standardization, scalability, and multi-vendor interoperability.

The methodology synthesizes operational experience from existing deployments, input from utilities and HVDC equipment manufacturers, and relevant international standards. Key deployment challenges are identified, including electromagnetic compatibility, electrical clearance and flashover risk, navigation in GPS-denied environments, communication within shielded halls, cybersecurity constraints, and the need for deterministic safety and fail-safe behaviour. These challenges are translated into structured functional requirements covering physical design, environmental and EMC robustness, mobility and navigation, inspection payloads, communications, cybersecurity, and autonomy levels.

The main result is a unified functional specification framework that bridges the gap between outdoor substation robotics and HVDC valve hall robotics. By addressing the most restrictive requirements across both environments, this framework provides a foundation for transitioning from isolated pilot projects to scalable robotic inspection solutions that enhance safety, improve asset reliability, and support the long-term operation of HVDC systems critical to the energy transition.