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A Review on Inspection Methods of Sewer Pipelines

October 2019

Authors:

Iran University of Science and Technology

Pipelines are widely used in transporting large quantities of water and sewage over long distances. These valuable infrastructures attract public attention only when they fail. The quantitative and early detection of defects in sewer pipelines is very important in order to avoid severe consequences. In many countries, sewer pipeline inspection is usually carried out using CCTV (Closed-Circuit TV) cameras and off-line human surveys through raw image assessment for failure identification. CCTV-based techniques have some limitations that restrict their implementation. One of the disadvantages of CCTVbased techniques is the lack of visibility in the interior of the pipes. The other disadvantage of CCTVbased techniques is the poor quality of the obtained images because of difficult lighting conditions. In consequence, CCTV-based techniques can only detect gross defects reliably. In recent decades, thermography, microwave, laser, and sonar-based techniques have been proposed to complement the conventional CCTV-based technique and to improve inspection results. Also, new inspection devices employing multiple sensors and being capable of carrying out remote sewer inspection tasks have been proposed. This paper presents an overview of the conventional and novel inspection technologies for sewer pipelines. Furthermore, different types of robots for in pipe inspection tasks are discussed.

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

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

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

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



 riahi@iust.ac.ir

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

                 



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

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

    ˓ ˓

˓     

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

        ˓

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 ˓ 

      

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    ˓  

       ˓

        

(SHM) ral health monitoringstructu



[2]˓

 

[3]

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  





   

˓

       













[4]





      



˓

       







[5]˓











  

˓

      

˓˓

2.6

[6]

  

 ˓



 ˓     

˓

[7]

Circuit Television (CCTV)-Closed

ground penetrating radar (GPR)







  

[8]

    

       

˓







˓ 



     .

 

      

:



 











  

˓

  





 

[9]

       

˓

˓



-

˓



       





[10][11] ˓دودح

 ˓ 

        



˓[12]

         



˓ ˓

˓ ˓˓ 

 ... و

˓   

˓[13]



.˓

˓

[14]





[15]





[16]





    

       

      

˓ 

      

˓˓    ˓

 ˓     

˓



˓





˓[17]˓





 

       

˓

    





     

˓





˓ ˓





        

[18][19]

 

      (EC)˓ 

(EMT)(UT)-

(AE)˓

(IE)˓ 

[20]











˓



˓



˓

    



˓

     ˓  





˓



        



     







˓ 















˓





[21][22]



˓







     ˓  

    



wheeled robots

Inchworm robots

Snake robots

Legged robots

explorer

[23] 

      ˓

-

˓-



       





Mogre [24]

[25]MRINSPECT

[26]

 ˓      

 



MRINSPECT I

MRINSPECT IIMRINSPECT IV [26]







  

       





-



      

    

[27]



[27]







         



  [28]      





˓ 



˓



        



˓

   

[29]

˓









[30]





    







˓[31][32]-

     

˓

 [33]      













 



[34]













-

        

       

˓˓ ˓  ˓

˓˓

˓



       



   

[35]





[15]



     

˓





˓





 ˓       

  [14]      



  

     

      



      

[36]-

 

  

[5]



˓

-



        









˓

˓-

˓







      



[38]-[37]



˓

[39]

˓





  ˓







˓-

       

˓





 







˓

[40]

˓

[41]

˓









[37][38] 

˓   CCD   

     

˓





[39]

˓

     ˓ 

     

˓

Optical triangulation











[39]



   ˓ 



       



[41]karo

[42]˓



 ˓





˓

˓



   

 



        



   ˓   



      

 ˓







   







˓

        

   ˓  

       

˓

      ˓

 

˓[42]

 Karo    



     karo   

 





        





KARO[43]



karo

     ˓

      



(PIRAT) time Assessment Technique-Pipe Inspection Real

˓





˓

 ˓

[43]





PIRAT˓



PIRAT 





    -



˓



 

        

 



[44]

˓     

        

 

PIRAT[44]









SSET



 

     SSET˓ 







SSET[15]





˓tiscit

        



       











˓



SEK



  SEK   



    ˓ 

[45]SEK



SEK



˓˓ و

˓       SEK

 

(SSET) Sewer Scanner and Evaluation Technology

guided swimming system-cable

(SAM) sensors-Sewer Assessment by Multi

       ˓



SEK˓  

  SEK   

      SVM

SEK-

 ˓SVM





      



 و

SVM   ˓

-





SEKSVM[45]



˓

˓

  



SAM    

SAM

[46]



       

       





     





˓













˓˓˓



˓

        

    

  ˓

          

       

        



˓   ˓   

˓



 ˓  





10

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A Review on Inspection Methods of Sewer Pipelines

, Mohammad Riahi

Turaj Azizzadeh

1- Ph.D Student, School of Mechanical Engineering, Iran University of Science and technology, Tehran 2- Professor, School of Mechanical Engineering, Iran University of Science and technology, Tehran *riahi@iust.ac.ir 

Abstract:

Pipelines are widely used in transporting large quantities of water and sewage over long distances.

These valuable infrastructures attract public attention only when they fail. The quantitative and early

detection of defects in sewer pipelines is very important in order to avoid severe consequences. In many

countries, sewer pipeline inspection is usually carried out using CCTV (Closed-Circuit TV) cameras

and off-line human surveys through raw image assessment for failure identification. CCTV-based

techniques have some limitations that restrict their implementation. One of the disadvantages of CCTV-

based techniques is the lack of visibility in the interior of the pipes. The other disadvantage of CCTV-

based techniques is the poor quality of the obtained images because of difficult lighting conditions. In

consequence, CCTV-based techniques can only detect gross defects reliably. In recent decades,

thermography, microwave, laser, and sonar-based techniques have been proposed to complement the

conventional CCTV-based technique and to improve inspection results. Also, new inspection devices

employing multiple sensors and being capable of carrying out remote sewer inspection tasks have been

proposed. This paper presents an overview of the conventional and novel inspection technologies for

sewer pipelines. Furthermore, different types of robots for in pipe inspection tasks are discussed.

Keywords: Sewer pipelines, CCTV-based inspection technique, Multi-sensor inspection technique,

Pipe inspection robots

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A Review on Inspection Methods of Sewer Pipelines

Abstract

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