this is about robotic cable inspection to detect the exact location of the fault. In this we are using ATmega 1280 micro controller for operating the robot. There is a GPS module to find exact location of the robot to detect the fault. We are using different sensors for detection of faults in the under ground cables.

1. ROBOTIC CABLE INSPECTION
SYSTEM
Under the esteemed
Guidance of
Sri G.BALA KRISHNA
M.tech, PhD
Assistant professor
Department of EEE

2. DHANA LAKSHMI ……. 11741A0215
GURU SEKHAR ……. 11741A0220
INDIRAVATHI ……. 11741A0226
KALYANI ……. 11741A0230
KEERTHI ……. 11741A0231
MAHESH KUMAR ……. 11741A0240
MEETYA NAIK ……. 11741A0242
Presented by:

3. 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.

4. 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

5. Types of Faults
• open circuit fault
• short circuit faults
• Line to ground faults

6. 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
impedance
n = 100m
• 2)PULSE ECHO TESTER OR ECHO METER the
measurement of the fault generated travelling
wave component. n = 10 m

7. 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

8. 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.

9. ROBOT
Mechanical Electrical ROBOT

10. BALANCE TECHNOLOGY
Mechanical Electrical

11. 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

12. Casing for UC

13. 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.

14. SENSOR POSITION
Thermal Analysis Discharge Analysis Electric Field Sensing

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

16. 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.

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

18. 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.

19. 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.

20. • 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.

21. 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

22. 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.

23. Microcontroller

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

25. Micro controller
Power Supply
IR Sensor
Fire Sensor
Discharge
Sensor
Metal Sensor
Temperature
sensor
GPS
Tracking Module
E-Field Sensor
DC motor
Speed CC2500
Based Wireless
module
H-bridge

26. Computer control
PC
Remote monitoring
system
Speed CC2500
Based Wireless
module

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

28. INJECTION
We can inject the robot from any
where of the system

29. 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

30. THANK YOU