TATUBOT – Robotic System for Inspection of Undergrounded Cable System

Author

Mello, Claudio, Jr. ; Goncalves, E.M. ; Estrada, Emanuel ; Oliveira, Gabriel ; Souto, Humberto, Jr. ; Almeida, Renan ; Botelho, Silvia ; Santos, Thiago ; Oliveira, Vinícius

Author_Institution

Comput. Eng. Course, Fed. Univ. of Rio Grande

fYear

2008

fDate

29-30 Oct. 2008

Firstpage

170

Lastpage

175

Abstract

In this paper, it is presented the development of an innovative and low-cost robotic mobile system to be employed in inspection of underground electrical distribution lines and pipes. The system is composed of a robot with different sensors (infrared, acoustic, and FEF) which permit to move inside pipes and detect overheated points, partial electrical discharges and the occurrence of cable treeing. It is showed the mechanical structure of the robot, the overall architecture of the system and preliminary results.

Keywords

electric conduits; inspection; mobile robots; power distribution lines; robot vision; trees (electrical); underground cables; underground distribution systems; TATUBOT; cable treeing; inspection; low-cost robotic mobile system; overheated points; partial electrical discharges; underground cable system; underground electrical distribution lines; underground electrical distribution pipes; Acoustic sensors; Acoustic signal detection; Infrared detectors; Infrared sensors; Inspection; Mechanical sensors; Mobile robots; Power cables; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotic Symposium, 2008. LARS '08. IEEE Latin American

Conference_Location

Natal, Rio Grande do Norte

Print_ISBN

978-1-4244-3379-7

Electronic_ISBN

978-0-7695-3536-4

Type

conf

DOI

10.1109/LARS.2008.34

Filename

4812644