Abstract: A method and apparatus for performing maintenance on sewer pipes using a thermal sensor. The method and apparatus may be applied to the reinstatement of lateral openings after a liner has been installed in a main pipe. The thermal sensor detects the location of the lateral openings by sensing the thermal conditions of the liner. The thermal condition of the portions of the liner that cover the lateral openings is different from the thermal condition of the rest of the liner. The apparatus and method is also applicable to detecting groundwater leaks in the main pipe, and is also applicable to inspecting exothermic chemical reactions in the main pipe, such as exothermic grout or epoxy used to seal the liner in the main pipe. The thermal sensor may be integrated into a camera assembly that includes a visual camera at one end and the thermal sensor at the other end. The visual camera is useful in those portions of the main pipe that are full of water.

Abstract: A self-propelled lateral inspection apparatus includes a body, a main camera fixed to the body, and a lateral camera movable with respect to the body into a lateral sewer pipe. A low frequency beacon is carried by the lateral camera or may be provided separately from the lateral camera. The beacon may be used to determine the position of the lateral camera in the lateral sewer pipe, or to map the lateral sewer pipe. A picture-in-picture processor is carried by the body, and permits an above-ground user to view video images from both the main and lateral cameras simultaneously on a single monitor screen.

Abstract: A self-propelled lateral inspection apparatus includes a body, a main camera fixed to the body, and a lateral camera movable with respect to the body into a lateral sewer pipe. A low frequency beacon is carried by the lateral camera or may be provided separately from the lateral camera. The beacon may be used to determine the position of the lateral camera in the lateral sewer pipe, or to map the lateral sewer pipe. A picture-in-picture processor is carried by the body, and permits an above-ground user to view video images from both the main and lateral cameras simultaneously on a single monitor screen.

Abstract: A self-propelled lateral inspection apparatus includes a propulsion motor that drives friction members to propel the apparatus along an inside surface of a main sewer pipe. The apparatus also includes a main camera and a lateral camera. The main camera is used to view the relative positions of the lateral camera and an opening to a lateral sewer pipe to be inspected. The lateral camera is interconnected to a push rod cable having a flexible core and lateral camera wiring encased in a resilient shell. A rotate motor and a tilt motor act on a launch chute assembly to properly align the lateral inspection camera with the lateral sewer pipe opening. A drive assembly, including a drive motor, at least one drive gear, and at least one pressure roller, inserts and retracts the push rod cable and lateral camera into and from the lateral sewer pipe.