Ein modulares Multisensorsystem für Rohrinspektions- und Rohrsanierungsroboter

An advanced multi-sensoric pipe inspection system has been developed and prototypically realized which is able to detect automatically type, location and size of damages in the sewerage system. The modular system concept comprizes a multisensor system consisting of an innovative 3D-optical light stripe sensor and a micro wave sensor. Thus, an inspection robot is enabled online to detect and classify anomalies during its motion within the pipe or the pipe wall respectively as well as within the closer pipe surroundings. For sensor fusion and damage classification a new Neuro-fuzzy based concept is applied. Within this contribution multisensoric inspection system concept is introduced and results will be presented