17 Sewer Robotics

The usage of tethered, remotely controlled robot platforms in sewer pipes has become widely accepted. Research and development in engineering have moved the original application field of merely visual inspection to manipulative tasks such as the actual repair of pipe sections, installation of cable, e.g. for communication. Despite all engineering advances in the mechanical design of the platforms and improvements of the video equipment, these efforts are directed to increase the quality of the data provided to the human operator. Yet the potential for automatic processing and data analysis in combination with hardware platform, as well as the application of IT technology for the development of an integrated sewer information system is neglected. In this chapter, we being with the introduction of the legal framework together with the present inspection method, in which environment sewer inspection is embedded. Further, we will point out critical issues involved with the present inspection method. Sewer systems are prone to damages due to aging, traffic, geological change, to name a few. Due to these damages, the groundwater is increasingly contaminated. Furthermore, heavy rainfall events may lead to inroad of the systems, resulting in overflow. In the case of separate sewer system as widely present in Japan (Table 1), this results in the undesired mixture of wastewater and rainwater. Thus, in order to ensure an optimal functioning sewer system, extensive inspection is necessary. Preceding repair is extensive qualified diagnostic measurement. Tethered mobile robots used for visual inspection in municipal and industrial sewer networks are one example. Beyond this classic task of application of the tethered robot as an extended tool of the human operator, new fields have emerged. Due to ongoing research and development of the mechanical design, tethered robots are now able to perform repair tasks with varying degree of complexity. Other emerging fields of application are the installation of communication cable in the sewer system as well as the encasement of inner pipe walls during renovation or repair. (Most of the materials presented in this chapter have been selected from the material provided by “Steinbeis Japan Inc., Kitakyushu Foundation for the Advancement on Industry, Science and Technology,” March 2002.)