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Inspektion von Abwasserkanälen mit einem mobilen Roboter

: Kuntze, H.-B.; Schmidt, D.; Haffner, H.

Spektrum der Wissenschaft (1995), März, S.100-107
ISSN: 0170-2971
Fraunhofer IITB ( IOSB) ()
Antischupfverhalten; antislip behaviour; Antriebsregelung; automatic damage inspection in sewerage systems; automatische Schadendetektion in Abwasserkanälen; autonomer Roboter; autonomous robot; drive control; intelligent multisensorics; intelligente multisensorics

The visual inspection of sewer defects is often not sufficient in itself, for it only permits a subjective assessment of the state of the drain to be obtained. On the othe hand, defects concealed by corrosion and incrustation or the residual water contained in the pipe base and the causes of defects remain unidentified and the location of defects inadequately determined. Within the framework of a joint project sponsored by the Federal Ministry for Research and Technology, a novel modular concept for a Sewer Inspection Robot (KARO) has been developed and realised as a prototype, which in addition to testing for leaks makes it possible to obtain further necessary data such as the objective and qualified recognition of the location of the defect, the cause of the damage as well as its extent vis-a-vis jeopardising the groundwater. The inspection robot (KARO) distinguishes itself compared with similar developments through a number of advanced functional and design features. On the one hand , it possesses intelligent multisensorics for inspecting drains and detecting defects as well as for sewer surveying, cartography and vehicle control. On the other hand, it is characterised by progressive construction and intelligent decentralised drive, control and guidance technology, which provides it with a high degree of robustness and outstanding manoeuvrability as well as facilitating part-autonomous operation. This paper has the purpose of introducing the KARO system concept as well as various part-results - and to discuss initial test results obtained with the prototype under practice-oriented conditions.