Controlling a Multijoint Robot for Autonomous Sewer Inspection

A wheeled multijoint robot for autonomous sewer inspection

In this paper a concept for a wheeled, multijoint robot able to operate in sewage systems is presented. The robot should work in an autonomous way. This concerns power supply, control and information processing. The cablefree navigation and the multijoint redundant construction of the robot enable higher mobility in sewage systems. In contrast to present systems, the robot should be able to avo...

An articulated service robot for autonomous sewer inspection tasks

In this paper a multijoint robot f o r sewer inspection tasks i s presented. In order t o increase the operating scope the robot has been made able t o run round or over obstacles, to follow sewage branches and is aimed t o work wirelessly unlike mos t other sewer inspection robots. A s a result of the wireless approach the robot has to carry an energy resource and mus t be able to act autonomo...

Dynamic replanning in uncertain environments for a sewer inspection robot

The sewer inspection robot MAKRO is an autonomous multi-segment robot with worm-like shape driven by wheels. It is currently under development in the project MAKRO-PLUS. The robot has to navigate autonomously within sewer systems. Its first tasks will be to take water probes, analyze it onboard, and measure positions of manholes and pipes to detect polluted-loaded sewage and to improve current ...

Navigation of an Autonomous Sewer Inspection Robot Based on Stereo Camera Images and Laser Scanner Data

3-D Interpretation of Sewer Circular Structures

A practical algorithm for 3-D interpretation of images taken in a sewer by a robot-inspector is presented. Modern sewers made of concrete present regular circular structures originating at the pipe ends as well as at the joints of the pipe sections. These pipe ends and joints provide regular marks on the sewer images and can be used for their 3-D interpretation. The key idea of the paper is to ...