Altrock, M.M.AltrockFelsch, T.T.FelschSaenz, J.J.SaenzElkmann, N.N.ElkmannSack, M.M.Sack2022-03-082022-03-082003https://publica.fraunhofer.de/handle/publica/305643Es wird ein Roboter zur Inspektion und/oder Reinigung und/oder Sanierung von Kanaelen, insbesondere Abwasserkanaelen, mit einer Antriebs- und Fuehrungseinrichtung fuer die Fortbewegung und/oder Positionierung, einer Sensoreinrichtung und/oder mindestens einem Werkzeug zur Reinigung und/oder Sanierung des Kanals vorgeschlagen. An einem Grundkoerper sind ausfahrbare und/oder klappbare Stuetzen zum Abstuetzen an der Kanalwand montiert, wobei die Stuetzen im Bereich der Abstuetzflaechen Antriebseinheiten fuer die Fortbewegung und/oder Positionierung aufweisen.DE 10215325 A UPAB: 20031120 NOVELTY - The robot (1) has a drive/guide unit, a sensor unit, and/or a tool for cleaning and/or repair of a channel (4). It has a main body (2), formed e.g. as a floating body, with fold-out and/or extendable supports (3), to support itself on the channel wall. The supports have drive units near the support surfaces, for forward movement and/or positioning. The main body is hub-shaped and is located in the crossing point of the supports, acting as connection part. The drive unit has wheels, rollers and/or tracks, to permit movement in axial and circumferential direction of the channel, and/or a combined movement. Sensor unit and/or cleaner are mounted on a support or the main body, or on an arm rotating about the main body. USE - Cleaning and/or inspection and/or repair of channels, e.g. sewage pipes and similar. Fully or semi-automatic, or with remote control. ADVANTAGE - Secure and reliable function even with reduced pipe cross sections and deformation, smooth movement along pipe without jamming.de608670patent2002-10215325