TATUBOT – Robotic System for Inspection of Undergrounded Cable System

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.

Past, present and future of robotic tunnel inspection

“…Unfortunately, this work is only theoretical and the robot does not exist physically. Other examples of tunnel cables inspection robots can be found in B. Jiang et al [60,61] and Claudio Mello et al [62].…”

Towards Fully Automated Tunnel Inspection: A Survey and Future Trends

“…Unfortunately this work is only theoretical and the robot does not exist physically. Other examples of tunnel cables inspection robots can be found in B. Jiang et al [60][61] and Claudio Mello et al [62].…”

A survey of applied robotics for the power industry in Brazil

“…The TATUBOT project [9] is a robotic platform designed to monitor underground distribution lines and is presented in figure 4. It is equipped with sensors and actuators that make it capable of acting within electrical ducts.…”