Design Study of Smart Robotic Framework for Sewer Conservation

Design Study of Smart Robotic Framework for Sewer Conservation

© 2022 by IJETT Journal
Volume-70 Issue-8
Year of Publication : 2022
Authors : Saniya M. Ansari, S. M. Khairnar, Ravindra R. Patil, Nikhil M. Nikalje
DOI : 10.14445/22315381/IJETT-V70I8P226

How to Cite?

Saniya M. Ansari, S. M. Khairnar, Ravindra R. Patil, Nikhil M. Nikalje, "Design Study of Smart Robotic Framework for Sewer Conservation," International Journal of Engineering Trends and Technology, vol. 70, no. 8, pp. 247-255, 2022. Crossref,

Technology has revolutionized different human endeavors to take advantage of a clean, comfortable, safe life. In this paper, the proposed work introduces a robotic system that can navigate through buried sewers to detect isolated blockages using camera sensors and embedded vision. AI detection algorithms YOLOv3 and YOLOv4 have been trained with newly created imagery datasets and are a major aspect of this development. This robotic system will also solve the problem of human hygiene by removing the obstructions in the sewer in real-time with the help of a newly developed cutter. The linkage mechanism, cutting tools, the central frame and three separate crawler modules developed in Catia V5 R21 ED2 are also crucial parts of the proposed robotic system. The system provided is one of the best achievements in the field of sewer robotics that works to detect and remove barriers for real-world application. The methodologies in the presented system are revealed to specify the concepts and advantages.

Sewer robotics, Central frame, Linkage mechanism, Computer vision, Embedded system, Artificial intelligence.

[1] Information Manual, “Standard Operating Procedure (SOP) for Cleaning of Sewers and Septic Tanks by Central Public Health & Environmental Engineering Organisation (CPHEEO),” Ministry of Housing and Urban Affairs, Government of India. Available: Http://Cpheeo.Gov.In/Upload/5c0a062b23e94sopforcleaningofsewersseptictanks.Pdf [Accessed: 20 April 2022].
[2] S. M. Ansari, S. M. Khairnar, Ravindra R. Patil, Rupali S. Kokate, “An Assessment-Water Quality Monitoring Practices and Sewer Robotic Systems,” Information Technology In Industry, vol. 9, no.1 (2021), pp.140-148, 2021.
[3] R. R. Patil, S. M. Ansari, R. K. Calay, and M. Y. Mustafa, “Review of the State-of-the-Art Sewer Monitoring and Maintenance Systems Pune Municipal Corporation-A Case Study,” TEM Journal, vol.10, no.4 pp. 1500-1508, 2021.
[4] J. Redmon, D. Santosh, G. Ross, and F. Ali, “You Only Look Once: Unified, Real-Time Object Detection,” In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 779-788. 2016.
[5] J. Redmon, and F. Ali, “Yolov3: An Incremental Improvement,” Arxiv Preprint Arxiv:1804.02767, 2018.
[6] A. Bochkovskiy, C.Y. Wang, and H.Y.M. Liao, “Yolov4: Optimal Speed and Accuracy of Object Detection,” Arxiv Preprint Arxiv:2004.10934, 2020.
[7] K Irshad & M.V. Krishna, Analysis of Chassis with & Without Stiffener Using FEM, International Journal of Mechanical Engineering and Robotics Research, vol.3, no.2, pp.390, 2014.
[8] J. Zhang, H. Guo, J. Wu, G. Gao, Z. Kou, A. Eriksson, “Design and Analysis of Flexure Revolute Joint Based on Four-Bar Mechanism,” Acta Astronautica, vol.151, pp. 420-431, 2018.
[9] A. K. Natesan, “Kinematic Analysis and Synthesis of Four-Bar Mechanisms for Straight Line Coupler Curves,” 1994.
[10] V. B. Bhandari, “Design of Machine Elements,” Tata Mcgraw-Hill Education, pp.730-742, 2010.
[11] K. CPHEEO, “Manual on Sewerage and Sewage Treatment,” - Part B: Operation and Maintenance Final Draft, 2013.
[12] G.E.M. Abro, B. Jabeen, K.K. Ajodhia, A. Rauf, and A. noman, “Designing Smart Sewerbot for the Identification of Sewer Defects and Blockages,” International Journal of Advanced Computer Science and Applications, vol.10, no.2, pp. 615-619, 2019.
[13] WWWWTWKMRNDB Weliwita, JAP Isuru, SC Premaratne, “Modeling Abandoned Object Detection and Recognition in Real-Time Surveillance,” International Journal of Engineering Trends and Technology, vol.69, no.2, pp.188-193.
[14] I. Dudás, “the Theory and Practice of Worm Gear Drives,” Butterworth-Heinemann, pp. 6-68, 2005.
[15] J. J. Uicker, G. R. Pennock, J. E. Shigley, and J. M. Mccarthy, “Theory of Machines and Mechanisms,” New York: Oxford University Press, vol. 768, 2003.
[16] Amir A. F. Nassiraei, Yoshinori Kawamura, Alireza Ahrary, Yoshikazu Mikuriya and Kazuo Ishii, “Concept and Design of a Fully Autonomous Sewer Pipe Inspection Mobile Robot “KANTARO”, 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, DOI Https://Doi.Org/10.1109/ROBOT.2007.363777, pp. 136-143, 2007.
[17] D. Alejo, G. Mier, C. Marques, F. Caballero, L. Merino and P. Alvito, “SIAR: A Ground Robot Solution for Semi-Autonomous Inspection of Visitable Sewers,” In: Grau A., Morel Y., Puig-Pey A., Cecchi F. (Eds) Advances in Robotics Research: From Lab to Market. Springer Tracts In Advanced Robotics, Springer, C Ham, DOI – Https://Doi.Org/10.1007/978-3-030-22327-4_13, vol.132, 2020.
[18] F. Kirchner and J. Hertzberg, “A Prototype Study of an Autonomous Robot Platform for Sewerage System Maintenance,” Autonomous Robots, vol.4, no.4, pp. 319-331, 1997.
[19] H.B. Kuntze, D. Schmidt, H. Haffner, and M. Loh., “KARO - A Flexible Robot for Smart Sensor-Based Sewer Inspection,” In Proc. 12th Int. no- Dig Conference, Hamburg, pp. 367-374, 1995.
[20] E. Rome, J. Hertzberg, F. Kirchner, U. Licht, H. Streich and Th. Christaller, “Towards Autonomous Sewer Robots: the MAKRO Project,”, vol.1, pp.57-70, 1999.
[21] R. Kirkham, P.D. Kearney and K.J. Rogers, “PIRAT - A System for Quantitative Sewer Assessment,” In Proc. Int. Conf. Field and Service Robotics (FSR ’99), CMU, Pittsburgh (PA), pp. 7-12, 1999.
[22] Information Manual - Manual on Storm Water Drainage Systems – 2019 By Central Public Health & Environmental Engineering Organisation (CPHEEO), Ministry of Housing and Urban Affairs, Government of India. Available: – Http://Cpheeo.Gov.In/ [Accessed: 22 April 2022].
[23] Joakim Bruslund Haurum and Thomas B. Moeslund, “A Survey on Image-Based Automation of CCTV and SSET Sewer Inspections,” Automation In Construction – An International Research Journal (Elsevier), DOI – Https://Doi.Org/10.1016/J.Autcon.2019.103061, 2020.
[24] Saeed Moradi, Tarek Zayed, and Farzaneh Golkhoo, “Review on Computer Aided Sewer Pipeline Defect Detection and Condition Assessment, MDPI – Infrastructures,” ISSN 2412-3811, DOI - Https://Doi.Org/10.3390/Infrastructures4010010, 2019.
[25] Zheng Liu and Yehuda Kleiner, State of the Art Review of Inspection Technologies for Condition Assessment of Water Pipes, Journal of the International Measurement Confederation (IMEKO) (Elsevier), DOI - Https://Doi.Org/10.1016/J.Measurement.2012.05.032, 2013.
[26] A. A Maindalkar, and S. M. Ansari, “Aquatic Robot Design for Water Pollutants Monitoring,” International Journal on Recent and Innovation Trends In Computing and Communication, vol.3, no.6, pp.3699-3703, 2015.
[27] O. S. Vaidya, R. Patil, G. M. Phade, & S. T. Gandhe, Embedded Vision Based Cost Effective Tele-Operating Smart Robot,” International Journal of Innovative Technology and Exploring Engineering (IJITEE), vol.8, no.7, pp. 1544-1550, 2019.
[28] R. R. Patil, O. S. Vaidya, Phade, G. M. Phade, & S. T. Gandhe, Qualified Scrutiny for Real-Time Object Tracking Framework, International Journal on Emerging Technologies, vol.11, no.3, pp. 313-319, 2020.
[29] Saniya Ansari, Mr Piyush Kadam, “Design & Development of Automated Solar Panel Cleaning Robot” ISSN no.:0886-9367, the International Journal of Analytical and Experimental Modal Analysis, 2021.
[30] L.Ananth, M.Akash, B.Dharmasooriyan, S.Jones Raj and M.Balamurugan, "Microcontroller Based Sewage Cleaner" SSRG International Journal of Electrical and Electronics Engineering 5.8 (2018): 19-20.