Conceptualising an Inspection Robot for Tunnel Drainage Pipes

For inspection purposes first ideas of an in-pipe robot are presented. The idea of a rover with respect to the environmental conditions, as well as details of structure, actuation, measurement and control concepts is discussed in this document. It should be able to navigate through rather narrow and buckled drainage pipes with diameters not much larger than the robot itself, so the design is aiming for a most compact and potentially self-disassembling solution necessary for cases of stuck robots.