  In this paper, we present a full design of a flying robot to investigate the
state of power grid components and to perform the appropriate maintenance
procedures according to each fail or defect that could be recognized. To
realize this purpose; different types of sensors including thermal and aerial
vision-based systems are employed in this design. The main features and
technical specifications of this robot are presented and discussed here in
detail. Some essential and advanced computer vision techniques are exploited in
this work to take some readings and measurements from the robot's surroundings.
From each given image, many sub-images containing different electrical
components are extracted using a new region proposal approach that relies on
Discrete Wavelet Transform, to be classified later by utilizing a Convolutional
Neural Network.
