Title :
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
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;
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
DOI :
10.1109/LARS.2008.34
