TATUBOT – Robotic System for Inspection of Undergrounded Cable System

摘要

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.