ROBOTIC CABLE INSPECTION SYSTEM

Under the esteemed Guidance of Sri G.BALA KRISHNA

M.tech, PhD

Assistant professorDepartment of EEE

DHANA LAKSHMI ……. 11741A0215GURU SEKHAR ……. 11741A0220INDIRAVATHI ……. 11741A0226KALYANI ……. 11741A0230KEERTHI ……. 11741A0231MAHESH KUMAR ……. 11741A0240MEETYA NAIK ……. 11741A0242

Presented by:

ABSTRACT

ROBOTIC CABLE INSPECTION SYSTEM

An Innovative and low-cost robotic mobile system to be employed in inspection of underground cable to know Accurate, real-time information about the Underground cable status.

And also this power distribution cable network can save the power industry millions of rupees lost due to line failures or cables.

Hence the semi – autonomous robot for the inspection of electric power cables is designed.

The design of platform consists of a multi-processor control board, a 2 GHz wireless communication module, and infrared, e-field sensor, metal sensor, fire sensor, temperature sensor, acoustic sensors, AV cameras and GPS module also to locate the geographical location of fault.

The application indicates that such low-cost robot systems can improve the efficiency of the cable inspection system.

Types of Transmission Lines

Over head lines

ADVANTAGES

Cheaper

Easily replace

reliability

DISADVANTAGE

Not applicable for all locations

Under ground cable

ADVANTAGES

It can be applicable any where

Ex in cities and in under water

DISADVANTAGE

Costlier

High maintenance

Less reliable

Types of Faults

• open circuit fault

• short circuit faults

• Line to ground faults

Existing method

Contemporary methods for fault location on overhead lines and underground cables can be classified into two fundamental types:

• 1) EARTH FAULT LOCALISATION BY BRIDGE MEAGER measurement of post-fault line impedancen = 100m

• 2)PULSE ECHO TESTER OR ECHO METER the measurement of the fault generated travelling wave component. n = 10 m

Arc Reflection Method

The arc reflection method of fault pre-locating combines the use of a TDR (cable radar) and a surge generator (thumper).

By using an arc reflection filter, a low voltage TDR and a high voltage surge generator can both be connected to the faulted cable and the TDR can be looking down the cable while thumping.

The filter protects the TDR from the surge generator high voltage pulses and routes the low voltage pulses down the cable.

This method utilizes the fact that when an arc is created at the fault, its resistance is reduced to a very low value, less than 200 ohms, which will reflect radar pulses.

The arc location will appear as a downward going reflection on the TDR cable trace.

• TDR– Time Domain Reflectometer

Robotic Platform• Few successful robot

applications have been reported for underground distribution cables.

• Numerous problems have to be solved for this type of robot, such as space confinement, size and weight restrictions, wireless design requirements, and adverse environmental conditions.

ROBOT

Mechanical Electrical ROBOT

BALANCE TECHNOLOGY

Mechanical Electrical

Mechanical design:

• The robotic platform consists of two modular segments coupled by a freely rotating joint. The platform is height constrained by the tunnel environment. The front and rear modules contain hourglass shaped wheels with 12V DC motors to propel the platform along the cable

Casing for UC

Sensor Technology

• Infrared thermal analysis: To accurately measure the surface temperature of an object, the most important thing is to identify emissivity of the object

• Acoustic partial discharge analysis: The amplitude and frequency components of acoustic waves generated from partial discharges are both factors in detection.

• Fringing electric field sensing: Fringing electric field sensing is a tentative way to measure the dielectrometry properties of cables.

SENSOR POSITION

Thermal Analysis Discharge Analysis Electric Field Sensing

Single IR Sensor Module

• Used for line following or object detection. Range is around 3cm to 15cm depending on ambient light

Fire Detector Sensor Module

• The Fire sensor, is used for the detection of fire with in the range of 1 to 2 meters.

• It can easily mount on the robot platform due to less weight of about 5 gms.

Temperature sensor

• LM35 is used as temperature sensor with an output voltage linearly proportional to centigrade temperature with centigrade scaling

Metal sensor

•Metal sensors are of inductive type. •It transmits an electromagnetic field into ground. •If any metal object within the electromagnetic field will become energized and retransmit an electromagnetic field of their own.• The detector coil receives that signal and alerts the user.

Basic E-Field Sensor Board

• E-field sensor adds sense of “pretouch” to a robot hand and arm, allowing it to detect that it is close to objects without touching them.

• We are using a wireless AV camera in this project for security purpose in mines, Wars, Shopping malls etc,.

• The output is observed

in the portable TV.

Power supply unit

• Power supply unit consists of step down transformer, bridge rectifier, filter, regulator and rechargeable battery

Step down transformer

Bridge rectifier Filter regulator

Rechargeable battery

Distributed control:

• The control board consists of three Atmel micro-controllers. Each has specific functions related to the robot's operation, which greatly increases the performance of the robot. The control system coordinates the collection of data, communications, movements and autonomous functionality.

Microcontroller

GPS Tracking Module

GT-320RW. Model: GT-320RW GPS Tracking Module

Micro controller

Power Supply

IR Sensor

Fire Sensor

Discharge Sensor

Metal Sensor

Temperature sensor

GPSTracking Module

E-Field Sensor DC motor

Speed CC2500 Based Wireless

module

H-bridge

Computer control

PCRemote monitoring

system

Speed CC2500 Based Wireless

module

Control system

We can control and monitor the system from a remote computer by wireless communication

INJECTION

We can inject the robot from any where of the system

Advantages

• Reliability of under ground cables increases

• Lower maintenance cost

• Takes less time to clear the fault

• Less weather effect when compared to overhead lines

• Continuous power supply can be done

• Exact location of fault can be detected

THANK YOU