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Master Theses.

Autonomous, amphibious inspection robot

Gabriel Ecker

For the detection and localisation of deposits in drainage pipes an inspection robot, as well as a measurement system were developed.

The extreme environmental conditions e. g. humidity and water currents, as well as lack of space to operate and various kind of obstacles to be encountered require special solutions in all involved disciplines. So the design is aiming for a most compact and potentially self-disassembling solution necessary for cases of stuck robots.

The locomotion is realised by four 90° displaced track drives, pressed against the pipe wall by springs. A threaded spindle mechanism allows adjustments to the tube's inner diameter and variegating the spring forces. Through eddy current sensors, included into the spring mechanics, the spring deflection can be measured and as a consequence the thickness of potential sediments can be estimated. For a coarse localisation the turns of the drive motors are recorded and saved with the other measurement data.

Keywords: in-pipe robot, drainage inspection, tunnel maintenance

13th January 2020

Figure 1: inspection robot prototype