Sistema de posicionamento e detecção para ultrapassagem autônoma de obstáculos em robô de inspeção de linha de alta tensão

Abstract

Robotics has been used with increasing frequency in several different applications, from produ tion lines uses, to extremely dangerous situations and tasks os harmful for people. An example of dangerous tasks is the inspecition of transmission powerline. In this context, Senai CIMATEC, in partnership with UFMG and CEMIG, develops an autonomous robot to do the inspection at the CEMIG’s transmission powerlines, under 138kV voltage. In this work, the sensors and chosen techniques will be presented, as well as the reason for its choice as position and obstacle detection systems. These systems are very important to perform one of the essential tasks to the success of the project, wich is the autonomous overcoming of some obstacles present on lines, enabling the inspection. The selected system was implemented and tested, succesfully, both at Senai laboratories and CEMIG’s, was subject to the working voltage.