Pipe inspection robot system for underground infrastructure with an emergency release mechanism

In this paper an embedded computer based autonomous robot for pipe inspection is presented. Robot propulsion mechanism and power system and its protection system are designed. To avoid of getting stuck in pipe a new emergency release mechanism proposed. The practical field tests show that the robot performs well and can do pipe inspection properly and the robot moves gracefully not only at straight paths but also at junctions and curves. As well robot can release itself when it gets stuck in pipe.