Condition Assessment for Concrete Sewer Pipes Using Displacement Probes: A Robotic Design Case Study

Worldwide, millions of kilometres sewers are constructed from concrete pipes. Unfortunately, susceptible to corrosion biogenic hydrogen sulphide, and, though they may pass visual inspection, their ability hold together under load be degraded. This paper presents the design a teleoperated robot with protractible probe, that allows an operator apply localised selected points within sewer pipe. We report findings laboratory and field trials our prototype, initial results suggesting this approach has potential contribute useful information maintenance planning.