Project SubMerge is developing an inspection robot for drinking water pipes. Our autonomous inspection robot creates radical change in water pipe network management. It can precisely determine the condition of drinking water pipes, using a camera, ultrasonic sensor, hydrophone and positioning algorithm. The robot is able to flexible crawl trough drinking water pipes. Following its navigation mission and operating below surface level, the robot makes its own decisions and movements. The robots crawls from base station to base station. Reaching a base station, the robot gets recharged, exchanges its data and proceeds with a new mission. Project SubMerge is an initiative from Dutch drinking water supply companies Vitens, Evides and Brabant Water.