Abstract

This paper presents the development of a semi- autonomous sewage cleaning robot designed to operate in hazardous and wet environments, minimizing human involvement and enhancing safety. Equipped with a robotic arm, ultrasonic sensors, and a high-pressure water system, the robot effectively removes debris, blockages, and sediments from sewer pipelines. Theroboticarm,poweredbyahydraulic system, assists in manipulating objects, while rotating brushes and high-pressure water jets ensure thorough cleaning. Controlled by an Arduino microcontroller and a Fly-Sky transmitter, the robot features real-time monitoring throughan onboard camera, allowing remote operation with live video feedback. Designed for underwater functionality and energy- efficient operation using a DC motor, the system provides a cost-effective, sustainable solution to traditional manual cleaning methods. The prototype demonstrates successful performance in clearing sewage blockages, contributing to safer, more efficient sewer maintenance with potential for further automation advancement.

Introduction

Urban sewage systems are essential infrastructures designed for effective wastewater management. However, manual cleaning methods are inefficient, hazardous, and labor- intensive, exposing workers to toxic gases, pathogens, and other harmful conditions. The need for a safe, efficient, and automated system has driven the development of sewage cleaning robots. These robots aim to eliminate human intervention by performing cleaning tasks through advanced mechanical designs and sensor integration.

Recent advancements in robotics, control systems, and sensor technology have enabled the development of semi- autonomous systems capable of navigating complex environments and performing cleaning tasks with high precision. This project proposes a semi-autonomous sewage cleaning robot capable of detecting, maneuvering, and cleaning debris from sewer systems using a combination of robotic arms, high-pressure water jets, ultrasonic sensors, and a real-time monitoring system.

The proposed system is intended to reduce human exposuretohazardousenvironments,improvecleaning efficiency,andprovideacost-effectivesolutiontotraditional methods. The system is controlled by an Arduino microcontroller and a Fly-Sky transmitter, providing remote control capabilities for enhanced safety.

1. BENEFITS

Researchinthefieldofautomatedcleaningsystemshasbeen continuously evolving, driven by the necessity to replace hazardous manual operations with efficient robotic mechanisms.Variousresearchershaveattemptedtoenhance theperformance ofroboticsystems throughimprovedsensor integration, control mechanisms, and path planning algorithms. The work by Wang and Zhang (2024) demonstrated fault diagnosis of robotic arms using dynamic simulation and domain adaptation techniques, which is highly relevant to our effort to enhance the precision of robotic arm operations in our sewage cleaning robot. Furthermore, Elara et al. (2018) presented a Tetris-inspired floor cleaning robot designed to achieve efficient area coverage, an approach that influenced our mechanism for ensuring comprehensive cleaning of sewer pipes.

Another significantcontributionisbyMiaoetal.(2020), who proposed a multi-cleaning robot framework designed for handling large-scale cleaning operations through map decomposition. While their approach focused on floor cleaning, the concept of dividing the operational area for efficient coverage has inspired the implementation of systematic navigation algorithms in our system. Similarly, the work by Mohan and Sivanantham (2021) on social density monitoring using perception systems highlights the potentialofintegratingmulti-sensordatafusionforenhanced object detection and avoidance.

Huber et al. (2024) introduced obstacle avoidance algorithms focused on navigating concave obstacles, a crucial aspect in sewage cleaning robots due to the irregular structures present in sewer pipelines. These contributions provide valuable insights into developing a robust system architecture for the proposed sewage cleaning robot, emphasizing reliability, efficiency, and safety.

1. SYSTEM ARCHITECTURE

Theproposedsewagecleaningrobotcomprisesarobotic arm, ultrasonic sensors, high-pressure water jets, and a camera module. The central control unit, an Arduino microcontroller,coordinatesallsubsystems,enabling effective communication between various components. The robotic arm, powered by a hydraulic system, is designed to manipulate debris and assist in cleaning operations. Its precision is achieved through servo motors that enable smooth movement and efficient handling of objects.

Ultrasonicsensorsareintegratedintothesystemforreal- time obstacle detection, ensuring the robot can navigate complex environments without collision. The high-pressure water jets serve as the primary cleaning mechanism, efficiently removing stubborn debris and sediments from sewer pipelines. The entire system is operated using a Fly- Sky transmitter, providing remote control functionality and enhancingoperationalsafetybyreducinghumanexposureto hazardous environments.

The camera module offers live video feedback, enabling theoperatortomonitorthecleaningprocessaccurately.This visual data is processed by the Arduino microcontroller to assist in real-time decision-making. Additionally, the power supply is provided by a 12V rechargeable battery, allowing for prolonged operation and efficient energy management. The architecture is designed to be modular, making it adaptableto variouscleaning scenariosand easyto upgrade.

Fig.1.CircuitDiagramofthemomentarypartofthe robot

Fig. 1. demonstrates the integration of multiple sensors, motors, and the Arduino Uno. The system is powered by a 12VsupplyandutilizesanL298Nmotordrivertocontrolthe movement of four DC motors responsible for driving the robot.Ultrasonicsensorsareincorporatedtodetectobstacles, ensuring safe navigation within the sewage pipeline or confined environment. Additionally, a servo motor is attached for precise manipulation tasks, further enhancing the robot's ability to clean complex areas. The overall circuitry emphasizes modularity, making it easier to assembleandmaintain. Furthermore, theuse of Arduino Uno provides a robust and flexible platform for controlling various components, allowing easy modification and upgrading of the robot's functionalities as needed.

Fig.2.CircuitDiagramofARM

The circuit diagrams of the manually controlled sewage cleaning robot (Fig. 2.) are designed to efficiently control andoperatethevariouscomponentsinvolvedinthecleaning process. Thefirstdiagram illustrates the interfacingof servo motors with the Arduino board through a GPIO shield. The Bluetooth module is also connected, enabling wireless communication and control of the servos. The servos are responsible for operating mechanical parts such as robotic arms and cleaning brushes, which are essential for the collection and removal of debris.

1. ALGORITHM AND CONTROL SYSTEM

The control system for the sewage cleaning robot is governed by a well-defined algorithm aimed at achieving precision, efficiency, and adaptability. The algorithm begins withtheinitializationphase,whereallcomponents,including sensors, motors, and communication systems, are powered up and tested for functionality. Once initialized, the Fly-Sky transmitterestablishesareliable communicationlinkwiththe Arduinomicrocontroller,enablingremotecontroloperations. Theultrasonicsensors continuouslymonitorthe surrounding environment, providing real-time feedback to the controller.

Based on sensor data, the control system identifies obstacles and adjusts the robot's path accordingly. The robotic arm, controlledvia servomotors, isthen activated to collect larger debris, while high-pressure water jets are used to dislodge smaller particles and clean surfaces effectively. The camera module provides live video feedback, allowing the operator to oversee the cleaning process and make real- time adjustments if necessary. The cleaning operation continues iteratively until the entire area is thoroughly cleaned.

The flowchart illustrated in Fig. 3. Shows the step-by- step operation of the manually controlled sewage cleaning robot, presenting a systematic approach to achieve efficient cleaning. The process begins by initializing the system and establishingcommunicationbetweentheFly-Skytransmitter, receiver, and Arduino. This setup ensures accurate control over the robot’s movement and functionality.

Once communication is established, the robot navigates throughthedesignatedareausingDCmotors.Ultrasonic sensors are employed to detect obstacles in the path. When an obstacle is detected, the robot avoids it and continues navigation. If no obstacle is present, it proceeds with the cleaning operation. The cleaning process involves the activation of rotating brushes and water jets, which dislodge and collect waste particles. The debris is then stored in a designated compartment forproper disposal. Additionally, a hydraulic arm is used for manual debris removal, ensuring thorough cleaning even in challenging environments.

The robot monitors its progress in real-time using a camera, providing valuable feedback to the operator. After the cleaning operation is complete, the robot returns to its starting point, where the collected waste is safely disposed of.The flowchartprovidesacomprehensive overviewofthe robot’s workflow, highlighting its systematic approach to sewage cleaning.

Fig.3.Flowchartoftheworkingofrobot

1. METHODOLOGY

1. Initialization

• Powering all essential components including the Arduino, Fly-Sky transmitter, motors, sensors, and actuators.
• System self-check to ensure connectivity and functionality.

1. EstablishCommunication

• Pairing the Fly-Sky transmitter and receiver for stable, interference-free communication.

1. NavigationandObstacleDetection

• Ultrasonic sensors continuously                  monitor the environment for obstacles.
• If obstacles are detected, the control system adjusts the robot’s path to avoid collisions.

1. CleaningProcess

• Activationofrotatingbrushesandhigh-pressure water jets.
• Roboticarmassistsinremovinglargedebrisand collecting waste.

1. Real-TimeMonitoring

• Camerafeedbackallowsremoteobservationand control.

1. DataProcessing andFeedbackLoop

• Sensors and camera data are processed to enhance decision-making accuracy.

1. PROPOSED SYSTEM

1. SystemOverview

The proposed system consists of a robotic arm, ultrasonic sensors, high-pressure water jets, and a camera for real-time monitoring. The system is controlled by an Arduino microcontroller and operated through a Fly-Sky transmitter, providing wireless communication for remote operation.

1. Components

1. Robotic Arm:

• Ahydraulic-poweredarmdesignedfor grasping and manipulating debris.
• Controlledbyservomotorsproviding precise movement.

1. UltrasonicSensors:

• Used               for         obstacle               detection     and environmental mapping.
• SendsdistancedatatotheArduinoforpath adjustments.

1. High-PressureWaterJets:

• Designedtodislodgeandremovestubborn debris from sewer pipelines.

1. ArduinoMicrocontroller:

• The central processing unit controlling all components.
• Receives input from sensors and transmits output to actuators.

1. Fly-SkyTransmitter:

• Enableswirelesscontroloftherobot, enhancing safety and user-friendliness.

1. CameraModule:

• Providesreal-timemonitoringandvisual feedback to the operator.

1. DCMotor:

• Powersthemovementoftheroboticarm and cleaning mechanisms.

1. PowerSupply:

• 12V rechargeable battery providing energy-efficient operation.

1. BENEFITS

Theproposedsewagecleaningrobotoffersseveralbenefits:

1. SafetyEnhancement:

• Minimizeshumanexposuretohazardous conditions by allowing remote operation.
• Reducestheriskofaccidentsrelatedto manual cleaning.

1. EfficiencyImprovement:

• High-pressure water jets and rotating brushes effectively clean sediments and debris.
• Robotic arm assists in precise manipulation of waste material.

1. Cost-EffectiveSolution:

• Reduced labor costs and operational expenses.
• Low maintenance and energy-efficient design.

1. Sustainability:

• Environmentallyfriendlycleaningmethod using water jets instead of chemicals.
• Designed for energy-efficient operation with a rechargeable 12V battery.

1. Versatility:

• Capable of functioning in various environments, including wet and underwater conditions.
• Can be adapted for other industrial cleaning applications.

1. RESULTS AND DISCUSSION

The prototype shown in Fig. 4. demonstrated effective cleaning capabilities under various conditions. The robotic arm efficiently manipulated debris, while high-pressure water jets provided comprehensive cleaning. However, challenges such as limited battery life and difficulty navigating complex environments remain. Future work will focus on improving autonomy, sensor accuracy, and system durability.

Fig.4.a.FinalPrototyping

Fig.4.b.TopView

1. APPLICATIONS

1. Sewermaintenance.
2. Industrialwastecleaning.
3. Disasterrecovery.
4. Hazardousenvironmentexploration.

1. LIMITATIONS

1. Limitedautonomy.
2. Highpower consumption.
3. Difficultynavigatingnarroworirregularsewage pipelines..

Conclusion

The sewage cleaning robot offers a viable solution for efficientandsafecleaningofsewerpipelines.Byintegrating advanced sensors, robotic arms, and control systems, the robot minimizes human involvement while enhancing cleaning efficiency. Future improvements will focus on enhancing autonomy, robustness, and real-time monitoring capabilities.

References

[1] G. Wang and T.Zhang, \"Researchon Fault DiagnosisofRobot ArmWith Dynamic Simulation and Domain Adaptation\", IEEE Access,vol. 12, 2024. [2] M. R. Elara, T. Pathmakumar, and V. Ayyalusami, \"A Tiling-Theoretic Approach to Efficient Area Coverage in a Tetris-InspiredFloor Cleaning Robot\", IEEE Access, vol. 6, 2018. [3] X.Miao,H.-S.Lee,andB.-Y.Kang, \"Multi-CleaningRobotsUsingCleaning Distribution Method\", IEEE Access, vol. 8, 2020. [4] R. E. Mohan and V. Sivanantham, \"Social Density MonitoringToward Selective Cleaning\", IEEE Access, vol. 9, 2021. [5] L. Huber, J. J. Slotine, and A. Billard, \"Avoidance of ConcaveObstacles\",IEEEInternetofThingsJournal,vol.40,2024.

Copyright

Copyright © 2025 Aman A Saud, Preetha S L, Mohammed Sherhan S , Ben S Clive, Sudarsanan A. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.