A semi-autonomous sewer surveillance and inspection vehicle
R.M. Gooch, T.A. Clarke, Tim J. Ellis · 2002
There are millions of kilometres of sewer pipes of varying size and condition. Often, the exact position and state of these sewers is unknown. In order to map the pipe assets accurately, to detect blockage, breakage, erosion, encrustation and in order to plan maintenance or to build fluid models for flow analysis it is necessary to inspect the sewer assets. Man-entry sewers are inspected by the direct intervention of a human operative. Non man-entry sewers are typically inspected using a video camera mounted on a motorised trolley.