IRJET- Intelligent Detection and Elimination of Blockage in Sewage pipes using a Robot

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 902
Intelligent Detection and Elimination of Blockage in Sewage pipes
using a Robot
Aruna .R1, Bhavishya .G2, Venkatesh .S3, Ms. D.Jessintha4
1,2,3 Students, ECE Department, Easwari Engineering College
4 Associate Professor, ECE Department, Easwari Engineering College
---------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - This paper presents a robotic mechanism for
detecting and eliminating blockages in sewage pipes. This
robot is designed to replace human sewage cleaners in order
to ensure their health and hygiene. The proposed robot moves
through the pipeline, detects the blockages if they are present
and clears them by pumping water with high pressure or cuts
through the blockage and moves forward. Therobotoperation
is monitored and controlled manually by the sewage worker
using a laptop or palmtop computer. The operator can
monitor the insides of the pipe via a wireless camera attached
to the robot. The various sensors attached to the robothelpsto
determine the distance of the block from the robot and the
presence of poisonous gases inside the pipeline. The pumping
mechanism pumps water or air into the pipeline with high
pressure in order to loosen and clear the block. The rotating
mechanism consists of a fan like structure with sharp blades
that penetrate through the blocks by cutting them. This robot
is used to inspect various pipeline elements of different size.
Key words - sewage; pipeline; blockage; clearance;
pumping; rotating.
I. INTRODUCTION
Every day hundreds of men descend into the
putrid, foul smelling sewage for cleaning without any
safety gear. Workers who handle the maintenance and
cleaning of sewage pipes are at increased risk of serious
diseases like Hepatitis A. Many deaths occur due to
drowning, trench collapses, falls, and exposure to
chlorine or Hydrogen- sulphide gas. Those who die
during the duty are replaced by others, waiting to put
their lives in danger just to earn a living for themselves
and their families. Every week, young men line up for Rs
200 that they get to clean 20-25 gutters, putting their
precious lives at risk.
While sewage cleaning has become mechanized
in some parts of the country, the government figures
suggest nearly 8,00,000 people still work as sewage
cleaners.
In Metro cities, sewage travels across nearly 5,600-
kilometer long sewer lines at the speed of one meter per
second. Reports suggest that nearly 23,000 men and
women die in India every year doing various kinds of
sanitation work. A research at Tata Institute of Social
Sciences has found that 80% of the sewage cleaners die
before age 60 because of work-related health problems.
So, it is high time to replace human sewage cleaners
with high tech robots in order avoid these unfortunate
deaths and save their precious lives. This robot paves way
for the sewage workers to monitor and clean the pipes
without getting into the drainage. This will not lead to
unemployment instead it helps the workers to finish their
job easily with the help of robot. This ensuresthe health and
hygiene of the sewage workers.
II. PIPELINE MONITORING
A. Inspection of sewage pipes.
Pipeline is the major tool of transportation ofoil, sewage,
water etc. Many types of pipes are being used to construct
important lifelines such as water and gas supply all over the
world. Also pipesare widely used in chemical industriesand
in Gulf countries for carrying fuels like petrol, diesel, oil etc.
But the disadvantage is that many problems like cracks,
breakage and blocks are occurring in the pipelines because
of natural calamities and mechanical damages from third
parties which cause great loss. Thus scheduled proper
inspection must be done on these pipelines for their
maintenance. The manual cost of doing this inspection is
very high and it requires lots of resource and time. If robots
inspect inside the pipes, fast and accurate examination at
low cost is possible. This has been addressed in [1].
Pipeline Assessment Devices called pigs are available
which use ultrasonic technology to determine pipeline wall
cracks. Pigging operations include inspecting and cleaning
the pipelines. This is accomplished by inserting the pig into
a "pig launcher"-an oversized section in the pipeline,
reducing to the normal diameter. The launching station is
then closed and the pressure-driven flow of the product in
the pipeline is used to push the pig along down the pipeuntil
it reaches the receiving trap - the "pig catcher" or "receiving
station".

The same algorithm can be used to inspect the sewage
pipes but clearing blockages in the pipeline will not be
possible by this method. This is because the flow of pig will
be interrupted by the different types of blockagespresent in
the pipe. The blockages might include plastic waste, mud,
stones, waste clothes etc. In order to determine the type of
blockage, wireless cameras are attached to the robot
Ultrasonic sensor can be used to determine the distance of
the block from the robot. The wireless camera helps the
operator to monitor the pipeline continuously.
B. Determination of the position ofblockinsidethe
pipe.
The robot moves through the pipe by balancing on its
wheels. Ultrasonic sensor HCSR04 is assembled in therobot.
Ultrasonic sensors are non-intrusive in that they do not
require physical contact with their target. Ultrasonicsensors
are based on the measurement of the properties of acoustic
waves with frequencies above the human audible range,
often at roughly 40 kHz. They typicallyoperatebygenerating
a high-frequency pulse of sound and then receiving and
evaluating the properties of the echo pulse.
Three different propertiesof the received echopulsemay
be evaluated, for different sensing purposes. They are:
 Time of flight (for sensing distance)
 Doppler shift (for sensing velocity)
 Amplitude attenuation (for sensing distance)
1) Time of Flight
a) 1A. Reflection Mode
In reflection mode (also known as “echo ranging”), an
ultrasonic transmitter emits a short burst of sound in a
particular direction. The pulse bounces off a target and
returns to the receiver after a time interval t. The receiver
records the length of this time interval and calculates the
distance travelled r based on the speed of sound c:
r = c * t
Very often, separate transmitting and receiving transducers
are placed immediately next to each other,housedasasingle
unit. In these cases, the distance calculated will be twice the
distance from the sensor to the target.
b) 1B. Direct Measurement Mode
In this mode of operation the transmitter and receiver are
two separate units that move relative to each other. For
example, the receiver can be fixed to a target that moves
relative to a stationary transmitter, or vice-versa.
Multiple transmitters can be used to increase the
directionality of the transmitted pulse, whose signals were
received by multiple receivers in the performance space,
enabling a computer program to triangulate the performer's
position.
2) Doppler Shift
When a wave reflects off of a moving object, its frequency is
shifted by an amount proportional to the velocity of the
object. This fact can be exploited in ultrasonic sensing by
having the receiver measure not the time of flight but the
frequency of the returning echo pulse. Knowing fe and fr,the
frequency of the emitted and received pulse, respectively,
the velocity v of the target may be calculated.
fe - fr = 2 fe (v / c) cos(A)
Here, A is the angle between the target'sandthe pulse'slines
of motion.
3) Amplitude Attenuation
Ultrasonic sound attenuatesmuch faster than audiblesound
when propagating through air. By measuring theintensityof
the returning pulse, an estimate of the distance travelledcan
be made using the following equation:
I = I0e-ax
where I and I0 are the received and the original intensities,
respectively, and where a is the attenuation coefficient (a
property of the medium) and x is the distance travelled by
the wave.

III. BLOCK CLEARAGE MECHANISM
Once a block is identified and its distance is measured
using the ultrasonic sensor, the next step is to clear the block
using a pumping mechanism which comprises of a high
pressure washer. High pressure washers have been
developed with the aim of removing stubborn dirt under
tough working conditions. Efficient flow rates are achieved
using high flow rate and high pressure.
Water gets things so clean because its molecules have a
slight electrical polarity (one end is positively charged and
the other is negatively charged). Detergents (soapchemicals)
help water to do its job even better by breaking downgunges
and grease and making it easier for water to flush away. But
some kinds of ground-on dirt just won't budge, no matter
how hard we try. That's when a pressure washer is used. It
uses a narrow, high-pressure jet of hot or cold water to blast
dirt free. Because the water is traveling fast, it hits the dirty
surface with high kinetic energy, knockingdirtanddustaway
like a constant rain of tiny hammer blows. It's only water,
though, so it doesn't damage most hard surfaces.
Once the block is cleared usingthehighpressurepump,it
is indicated to the robot by using the ultrasonic sensor
distance measurement and the robot proceeds to clear the
next blockage along the length of the pipe.
IV. CONTROL OPERATION
All the activities of the robot are controlled by a
centralized microcontroller attached with the robot. This
controller is interfaced with the wheel motors, wireless
camera, ultrasonic sensor, gas sensor, driver circuit, UART
and Zigbee modules. Micro controller does the following
function.
1. When the operator turns on the robot, the
microcontroller enables the driver circuit.
2. Thedriver circuit enablesthe motion ofrobotinside
the pipeline by turning on the motors. The operator
can control the movement of robot as per pre-
programmed instructions.
3. The wireless camera continuously transmits the
information to the controller which shows it in the
user’s display device.
4. The ultrasonic sensor sends its output values to the
controller periodically. When the controller senses
an abrupt deviation in these values, it confirms the
presence of a blockage. The controller now
interrupts the driver circuit and turns on the
pumping mechanism.
5. The pumping mechanism is operated till the output
values of ultrasonic sensor return to normal. Once
the block is cleared, the controller returns back the
control to driver circuit for the forward motion of
robot.
6. A rotating mechanism is used for stubborn
blockages such as wood pieces, thick sheets etc
whichcannot be removedbypumpingmechanism.It
consists of a rotating fan like structure with very
sharp blades. This is capable of cutting the wood
pieces, covers, boxes etc. Thus the robot penetrates
into the block by cutting down it into pieces. Later,
pumping mechanism can be used to clear the
remains of the block.
7. The display device is interfaced with the controller
and it helps continuous monitoring by the user.
8. The gas sensor is turned on only in a rare case if
both pumping mechanism and rotating mechanism
are unable to remove the block. In such a case, the
output of the gas sensor is used to determine
whetherpoisonousgasessuch aschlorine orcarbon
monoxide are present inside the pipeline. This
provides precautionary measures for the sewage
workers before getting into the drain.
V. DISCUSSIONS
A. Advantages
a) The proposed robot eliminates the need for human
workers to get into the drainage in order to clean it. The
health and hygiene of sewage workers is preserved.

b) The robot is easy to design and implement. All the
components used have simple operation and is very simple
to program.
C) The cost of robot is economical that might cost few
thousands. The maintenance is also cheap.
d) The robot is highly user friendly. One can easily
operate this robot like a remote car.
e) The additional details provided by the wireless
cameras and sensors are also of great help to the users.
B. Disadvantages
This robot is not fully automated. Though this robot
eliminates the need for workers to get into the drain, it still
needs workers to control its operation
VI. CONCLUSION
The proposed robot is designed with the motive of
helping the sewage cleaners to prevent them from getting
affected by serious diseases because of entering the
drainage. The death rate of sewage cleanersis alarming. Itis
high time that this robot should be implemented to cleanthe
sewage pipes all over the world. Moreover, this robot will
help to find the poisonous gases inside the drain which will
help the authorities to curb the dumping of untreated raw
waste from the industries into the drains. This will not lead
to unemployment of sewage workers but will just make the
job easier and healthier for them. When this robot would be
implemented in real time, it will save thousands of poor
people’slives who come forward to cleanthedrainagejustto
earn few bucks a day. In this modern society, a human
cleaning the sewage waste showsthat verylessattentionhas
been given to those people’s lives due to their poverty.
Hence, this robot helps to have a clean and hygienic drain
systems everywhere.
REFERENCES
[1] Atu.A.Gargade, Dr.Shantipal.S.Ohol, “Development of
In-Pipe Inspection Robot” in IOSR Journal of Mechanical
and Civil Engineering on 18th July 2017.
[2] M. Saida, Y. Hirata and K. Kosuge, “Motion control of
passive mobile robot with multiple casters based on
feasible braking force and moment,” in Proc. of the 2010
IEEE/RSJ International Conference on Intelligent Robots
and Systems, Taipei, Taiwan, 2010, pp. 3130-3137.
[3] Y. Hirata, A. Muraki and K. Kosuge, “Motion control of
intelligent walker based on renew of estimation
parameters for user state,” in Proc. of the 2006 IEEE/RSJ
International Conference on Intelligent Robots and
Systems, Beijing, China, 2006, pp. 1050-1055.
[4] Y. H. Hsieh, K. Y. Young and C. H. Ko, “Effective
maneuver for passive robot walking helper based on user
intention,” IEEE Transactions on Industrial Electronics,
vol. 62, no. 10, pp. 6404-6416, 2015.
[5] B. Graf, “An adaptive guidance system for robotic
walking aids,” Journal of Computing and Information
Technology, vol. 17, no. 1, pp. 109-120 2009.
[6] J. Manuel, H. Wandosell and B. Graf, “Non-holonomic
navigation system of a walking-aid robot,” in Proc.ofIEEE
international Workshopon Robot and Human Interactive
Communication, Berlin, Germany, 2002, pp. 518-523.
[7] M. Spenko, H. Yu and S. Dubowsky, “Robotic personal
aids for mobility and monitoring for the elderly,” IEEE
Transactions on Neural Systems and Rehabilitation
Engineering, vol. 14, no. 3, pp. 344-351, 2006.
[8] O. Y. Chuy Jr., Y. Hirata, Z. Wang and K. Kosuge, “A
control approach based on passive behavior to enhance
user interaction,” IEEE Transactions on Robotics, vol. 23,
no. 5, pp. 899-908, 2007.
[9] T. Ohnuma, G. Lee and N. Y. Chong, “Particle filter
based feedback control of JAIST active robotic walker,” in
Proc. of 2011 ROMAN 20th IEEEInternationalSymposium
on Robot and Human Interactive Communication,Atlanta,
GA, USA, 2011, pp. 264-269.
[10] G. Lee, T. Ohnuma, N. Y. Chong and S. G. Lee, “Walking
intent-based movement control for JAIST active robotic
walker,” IEEE Transactions on Systems, Man, and
Cybernetics: Systems, vol. 44, no. 5, pp. 1-10. 2013.
[11] S. Y. Jiang, S. C. Hung and K. T. Song, “A call-to-service
design for mobile robots using Zigbee sensor networks,”
in Proc. of 2011 8th Asian Control Conference, Kaohsiung,
Taiwan, 2011, pp. 317-322.
[12] K. T. Song and S. Y. Jiang, “Force-cooperativeguidance
design of an omni-directional walking assistive robot,” in
Proc. of 2011 IEEE International Conference on
Mechatronics and Automation, Beijing, China, 2011, pp.
1258-1263.
[13] Y. Hirata, S. Komatsuda and K. Kosuge, “Fall
prevention control of passive intelligent walker based on
human model,” in Proc. of 2008 IEEE/RSJ International
Conference on Intelligent Robots and Systems, Nice,
France, 2008, pp. 1222-1228.
[14] S. Taghvaei, Y. Hirata and K. Kosuge, “Control of a
passive walker using a depth sensor for user state
estimation,” In Proc. of the 2011 IEEE International
Conference on Robotics and Biomimetics, Phuket,
Thailand, 2011, pp. 1639-1645.
[15] K. Wakita, J. Huang, P. Di, K. Sekiyama and T. Fukuda,
“Human-walking-intention-based motion control of an
omnidirectional-type cane robot,” IEEE/ASME
Transactions on Mechatronics, vol. 18, no. 1, pp. 285-296,
2013.

[16] P. Di, J. Huang, S. Nakagawa, K. Sekiyama and T.
Fukuda, “Fall detection and prevention in the elderly
based on the ZMP stability control,” in Proc. of 2013 IEEE
Workshop on Advanced Robotics and its Social Impacts,
Tokyo, Japan, 2013, pp. 82-87.
[17] P. Di, Y. Hasegawa, S. Nakagawa, K. Sekiyama, T.
Fukuda, J. Huang, and Q. Huang, “Fall detection and
prevention control using walking-aid cane robot,”
IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2,
pp. 625-637, 2016.
[18] X. S. Papageorgiou, G. Chalvatzaki, C. S. Tzafestas and
P. Maragos, “Hidden Markov modeling of human normal
gait using laser range finder for a mobility assistance
robot,” in Proc. of 2014 IEEE International Conference on
Robotics& Automation, Hong Kong, China, 2014,pp. 482-
487.

IRJET- Intelligent Detection and Elimination of Blockage in Sewage pipes using a Robot

More Related Content

What's hot (20)

Similar to IRJET- Intelligent Detection and Elimination of Blockage in Sewage pipes using a Robot (20)

More from IRJET Journal (20)

Recently uploaded (20)

IRJET- Intelligent Detection and Elimination of Blockage in Sewage pipes using a Robot