System was designed for automatic TV control of internal pipe surface quality. In scanning process the scanner with camera and lighting source moves along internal pipe surface, covering in motion total pipe surface. Each photo frame fix a single cross section of pipe, corresponding to current structured lighting. Then by extrapolation procedure the shape and size of defect are reconstructed and analyzed. As a result data from different sections are sewed together and final defect map is created.

• Digital system of video input
• Source of structured light
• Autonomous wheel device for scanning motion along internal pipe surface supplied with fixing arrangement for video camera
• Personal computer

• threshold of minimal registered defects (length, width, height)
• step of scanning
• diameter and length of the pipe under testing
• speed of scanning

• error of defects height - not more than 0,1-0,15 mm
• error of defects square - not more than 15%
• error of defects length and width - not more than 20%