Abstract: A vault inspection system is configured to obtain visual inspection data of an underground utility vault without disturbing the components within the vault. A support apparatus supports a pole that is used to advance an inspection structure into the vault. A mount frame may be configured to position the support apparatus over an access opening so that the pole will not contact components within the vault. The inspection structure may be a robot that is lowered to the floor of the vault. The inspection structure may be an expandable vision system that may be compacted for advancement through the access opening, and expanded within the vault to provide greater perspective for obtaining inspection data.