Ré – Student Research Proposal
MOHAN RAJ G
Year of Study
Area(s) of Interest
(If no mentor fill the below with
AUTONOMOUS SEWAGE CLEANER
The advancement in robotics by ECU
can be employed to avoid jeopardization of humans, especially for sewage
cleaners, wherein manual removal of clogs in sewage pipelines is in practice.
This can be avoided by implementation of Robot which automatically cleans the
drainage pipes even at longer distances.The complete control unit for the setup
is provided by electronic boards and sensors to automate the process, which is
low cost due to improvement of manual programmable circuit boards.
Generally the blocks can be removed
by following methods:
The robot head with pneumatic cylinder which can push
the clog forward
Drill bit and saw tooth bits can be used to remove the
Pressured water jet can also be used to flush the
The second method is better
for implementation, because of its independency in operating distance and it
doesn’t require any separate hoses to provide pressurized water.
Usually the blocks in sewage is associated with over flow of
water, which can serve as a pressurized water to flush out the cut down blocks.
Our play is to disentangle and loosen the clogs in the
pipelines. For this, High torque DC motor is employed, the direction, speed and
time for cutting is controlled by pre-programmed sensor(ultra-sonic) operated
The crawler model for pipe inspection robots are already in
existence, but the main fault over there is having single set of wheels, which
might get trapped in the pipeline and the range of pipe diameter it covers is
less, which can be improved by varying length of mechanism links.
During turning it is essential to provide differential in
wheels and can be done by electronic control unit for wheel speeds, because it
will be slippery over the inner surface of the pipelines.
The problems that exists in existing
• Inability to turn along curved pipes
• Slip because of having single set of
• Ineffective cleaning method (at Long
SCOPE OF PROJECT:
An estimated 62,000 million litre per day (MLD) sewage is
generated in urban areas, while the treatment capacity across India is only
23,277 MLD, or 37% of sewage generated, according to data released by
the government in December 2015. Further parsing of this data reveals that
of 816 municipal sewage treatment plants (STPs) listed across India, 522 work.
So, of 62,000 MLD, the listed capacity is 23,277 MLD but no more than 18,883
MLD of sewage is actually treated. The rest is randomly dumped in rivers, seas,
lakes and wells, polluting three-fourths of the country’s water bodies,
according to an India Spend analysis of various data sources.
That means 70% of sewage generated in urban India is not
treated. Even though it’s a major problem, transferring would be a hard part
and the already existing drainage system are very old and hard to maintain. So
the product that we develop would make it easy to maintain it, free from clogs.
Crawler with Maximum Diameter Coverage
double set of wheels
the speeds of individual wheels for effective turning
of End Effecter for obstacle removal
The prototype would enhance
the method of cleaning procedure
slider crank mechanism-frictional grip-maximum
coverage – effective turning – autonomus – sensors – end effector – ECU
-Arduino control board -Analysis of crawler.
Design and Development of a
Reconfigurable Type Autonomous Sewage Cleaning Mobile
Manipulator,2013.(P.Dhananchezhiyan et al.)
type sewage cleaning robot mechanism was developed where the manipulator acts
as a mechanical switch for the blade rotation activation which can reconfigure
its own body to variable diameter sewage pipeline.IR proximity sensor is used
for locating blocks and the H-bridge circuit for rotation control.
The Design and Analysis of a Feeder
Pipe Inspection Robot With an Automatic Pipe Tracking System,2010.(Changhwan
Choi et al.)
The defects in pipe is found by
the pressurized heavy water container fitted over a the pipelines and moved
with the help of the crawler. The change in pressure indicates the defect and
the magnitude of pressure drop shows the effect of leak in the pipeline. This
is used for accurate measurement of cracks in long pipes, especially in fuel
pipelines where the leak causes much damage and cost.
Wireless Piping Inspection Vehicle
Using Magnetic Adsorption Force,2012. (Kosuke Nagaya et al.)
The magnetic adsorption
crawler type is used to run in a pipeline with vertical inclination, which
provides better grip and control of additional mechanism and objects.
Inspection is done by wireless camera and it is compact in size and is useful
only for pipelines with magnetic properties.
Development of Inchworm In-Pipe Robot
Based on Self-Locking Mechanism,2013. (Jinwei Qiao et al.)
The motion of the
setup when the pneumatic cleaning is in process is eliminated by self-locking
mechanism which is done by the frictional force between the inner surface of
pipeline and the dove tail clamp and the traction ability is analysed.
Performance comparison of Infrared and
Ultrasonic sensors for obstacles of different materials in vehicle navigation
applications,2016. (Adharsh et al.)
Efficiency of the
sensors(IR, ultrasonic) are analysed, where the IR sensors are ineffective at a
distance less than 4cm and ultrasonic sensor are shows negative deviation at
long distance but it is negligible. Because our
application is sensing at shorter distance to actuate the process.
Sewer Cleaning Devive US Patent,1988.(Robert
C. Smith et al.)
The traditional way of block
removal is made as an equipment with manual operation of the device but with
hydraulic pressure supply through hoses. The Actuator(hydraulic operated) for
initial loosening of protrusion in sewage pipelines.
CABLE CRAWLING UNDERWATER INSPECTION
AND CLEANING ROBOT,1992.(Samuel E. Landsberger et al.)
The control is similar to modern innovative system but the
lag in technology and equipments makes it a drawback. Pressure for friction on
the inside wheels are provided by actuators and the circuit system is used for controlling drive wheels and other
parameters of the process. Heavy weight of the body is inevitable due to its
older equipments like actuators which can be replaced by spring operated links
ROBOTIC INSPECTION APPARATUS AND
METHOD,1999.(James E. DeVault et al.)
It’s a sensor based inspection method which find
irregularities in industry pipelines where change in shape makes a great effect
on the process. The crawling motion is of link which supports on outside wall
of the tubular structure. The same is under progress in Kerala project for
ROBOT SYSTEM FOR SENSOR BASED AND MAP BASED NAVIGATION
IN PIPE NETWORKS,2000.(Frank Kirchner et al.)
describes about way of specifying the automated motion of the robot when it met
with various turns. The place of operation and the complete map of route is fed
into the programmed system which paves way for self movement without any user
help. The distance moved and the obstacles are sensed and taken as input for
Development and Controller Design of
Wheeled-Type Pipe Inspection Robot,2015.(Junghu Min et al.)
The updated version of the project done by
P.Dhananchezhiyan where the crawler has
multiple set of simple wheels which are connected by universal joint to make it
flexible. Additional wheels provide increased friction on the inner walls of
the pipeline which is the major advantage of the prototype.
Dhananchezhiyan, M. Singaperumal, R. Ramakrishnan ,Design and Development of a
Reconfigurable Type Autonomous Sewage Cleaning Mobile Manipulator , IConDM ,
Kancheepuram 2013,pp 1464 – 1473.
Choi, Byungsuk Park and Seungho Jung ,The Design and Analysis of a Feeder Pipe
Inspection Robot With an Automatic Pipe Tracking System, IEEE/ASME TRANSACTIONS
ONMECHATRONICS, VOL. 15, NO. 5, OCTOBER 2010,pp 736-745.
Murakami and Yoshinori Ando, Wireless Piping Inspection Vehicle Using Magnetic
AdsorptionForce, IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 17, NO. 3, JUNE
2012 pp 472-479.
Jianzhong Shang and Andrew Goldenberg ,Development of Inchworm In-Pipe Robot
Based on Self-Locking Mechanism, IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL.
18, NO. 2, APRIL 2013 pp 799-806.
Mohamed Kaleemuddin S,Performance comparison of Infrared and Ultrasonic sensors
for obstacles of different materials in vehicle navigation applications,
Smith ,Sewer Cleaning Devive US Patent, Systems Canada Limited,
Canada,1988,Patent Number:4,773,115 pp1-11
7. Samuel E.
Landsberger ,Cable Crawling underwater inspection and cleaning robot, Cornell
Research Foundation, Inc., 1992,Patent
Number: 5,203,646 pp1-9
DeVault ,Robotic inspection apparatus and method , US patent, Kansas State
University Research Foundation, Manhattan,
Kans. 1999, Patent Number: 5,857,534,pp1-11
Kirchner ,Autonomous mobile robot with sensor based and map based navigation in
pipe networks, GMD_F0rschungSZentrum
Informationstechnik GmbH, Sankt Augustin, Germany 2000, Patent Number:
Kim ,Development and Controller Design of Wheeled-Type Pipe Inspection Robot,
IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL.21,NO.2, ICACCI,Noida,
11. : Christopher J. Bourg, Method for
cleaning deposits from the interior of pipes US 6527869,B1,4 Mar 2003.
Estimated time frame:
Rough budget estimation:
Steel Bar (1/4-1″)
Hollow pipe AL-1.0″
Welding, Cutting, Threading
End Effecter -Blade&Disc
85mm Rubber Tyre
Sheet metal Cutting, Bending
Arduino UNO ATMEGA 328
High torque DC Motor
Motor Drive LC198N-H Bridge
I, MOHANRAJ G(14BME083) belonging to Mechanical department
is responsible for the details furnished above. The content is unique and
belongs to me(us).