Estudo para desenvolvimento de veículo autônomo para inspeção de dutos enterrados com uso de detectores de metal e sistema global de navegação por satélite (GNSS) de alta precisão e baixo custo

Abstract

Nowadays, there is an enormous need for inspections and mapping of underground pipelines, due to its advanced age of installation in Brazil and the increased use of this modal. An inspection system is necessary to contribute to the professional of this service, minimizing his exposure to the adverse conditions imposed by the existing methods, in order to reduce the human presence in unhealthy and unsafe areas. The purpose of this thesis is to demonstrate the methodology for building an autonomous vehicle prototype for external inspection of buried ducts by means of an embedded system, which uses the Arduino platform with the use of electromagnetic induction for its detection. The external inspection uses pipeline mapping with a high precision Global Navigation Satellite System (GNSS), and several detection and interaction tests with the microcontroller were applied. There was a comparison of the precision of the GNSS methods and devices to store the geographic coordinates of the buried pipelines. The expected results were obtained from comparative graphs using the geographical coordinates of the analyzed locations and the best GNSS devices for application in the prototype were identified. The Hyper V was the most suitable device for presenting an error of 0.04m and the closest was the U-blox M8N with 0.12m. With the results, it is possible to determine if there was a variation in the initial coordinates of installation of the pipeline, and decisions can be made to avoid possible leakage and destruction of the environment.