Robotic PPR: SewerVUE Surveyor

The first commercially available PPR system was developed and commercialized as a multi-sensor inspection (MSI) robot that uses visual and quantitative technologies (CCTV, LIDAR, and GPR) by SewerVUE Technology Corp. This fourth generation PPR pipe inspection system is mounted on a rubber tracked robot and equipped with two high-frequency GPR antennae.

The system can be adjusted between 18- and 36-inch (450 to 900 mm) diameter pipe, while the GPR antennae can be rotated between the nine and three o’clock positions. Radar data collection is obtained via two independent channels in both in and out directions, providing a continuous reading on pipe wall thickness, rebar cover and locating voids outside the pipe. CCTV data is recorded simultaneously and is used for correlation with GPR data collection. The robot is also outfitted with LIDAR capabilities to map quantitative measurements of inside pipe walls (Figure 3). This technology employs rotating laser to collect inside pipe geometric data which is then used to determine pipe wall variances from a manufactured pipe specification. LIDAR data is correlated with an onboard inertial navigation system (INS) that can accurately map the x, y, and z coordinates of the pipe without the need for external references.

Figure 2. SewerVUE Surveyor, fourth generation multi-sensor inspection robot equipped with pan, tilt, zoom CCTV, LIDAR and pipe penetrating radar.

The unit is equipped with three cameras (front, antenna and back). Maximum tether length is 6,000 feet. Optional condition assessment technology that can be added as additional payload include continuous H2S Gas Monitoring and other atmospheric condition recording equipment. The unit provides quantifiable results such as pipe wall thickness and rebar cover for buried infrastructure structural condition assessments.