Design and construction of an inspection robot for the sewage pipes

摘要

Robotic systems are used wherever human limits are achieved. The inspection robots are used for securing the access to the manholes, pipes and sewage systems, for monitoring faults and for the eventual minor repairs. The paper presents the design, construction and assembly of a four-wheeled inspection robotic rover used in sewage pipes with diameters larger than 200 mm. We managed to design the robust, waterproof and dirt-resistant washable rover solution, which has been proved to be very functional and easy to produce.