Compact and Minimalist Observation Class Bio Inspired Robotic Vehicle for Septic Tank and Sewer Line Inspection

Technology:; Inspection system;

Industry: Infrastructure, Waste Management;

Applications: Waste management;

Market: The global inspection robots market is projected to grow at a CAGR of 20% during 2024-2032.

Generally, manual scavenging of septic tanks is most dangerous practice which has taken many lives during operation.
Based on technical survey, the prior art used sphere of robotics trying to replace the manual scavenging.
Said prior art robotic system has an issue like limitations to pipeline crawlers.
Further the prior art robotics system includes other issues, related to unable to swim through water in case of higher sewage volume, failure of propulsion.
Hence, there is a need to address above issues and present invention provides solution in efficient manner.

The present invention describes an inspection system having hull designed in a preselected shape and a motor casing positioned outside the hull for holding motors. (Refer Figures)
Said inspection system further comprises sensors for inspecting a predefined area and at least two fins for enabling a movement of the inspection system in the predefined area.
In this instance, the first fin is provided at a front side and a second fin provided at a rear side.
The two fins are actuated through motors.
Cameras are connected at different positions over the hull and said cameras are controlled through motors and the control system for controlling navigation of the inspecting system inside the predefined area.
The inspection system is implemented as a robotic septic tank inspection system (robotic vehicle).

Technical Perspective:

The shape of the hull of inspection system is cylindrical shape.
The inspection system includes a bio inspired propulsion, with minimum use of actuators with high degree of maneuverability, compact in size.
The inspection system also comprises cleaning sub-modules for enabling a cleaning functionality of the predefined area.
The predefined area comprises an area inside a water body comprises a water tank, or a sewer line.
The actuation of each of the front and rear fin enables station keeping despite the vehicle being slightly positively buoyant.(Four degrees of freedom are achieved by this ROV-heave (up/down), pitch, yaw and surge (forward/backward).
The navigation of the inspection system is controlled by using a control system.
The front view of inspection area is captured by endoscope camera configured outside the inspection system & side view of inspection area is captured by webcam configured onto the servo motor (full 360 degrees side view).
The short circuit problem (due to tethers damage) can be tackled by utilizing onboard battery packs configured in the transmitter module of the inspection system.

Industrial Perspective:

Easily applicable in alien septic/sewer tanks and further applicable as disaster management tool, and other septic/sewer environments.
Cost-effective Robotic vehicle effectively minimize human intervention.

Prof. Prabhu Rajagopal

Department of Mechanical Engineering

TRL-4

Proof of Concept ready, tested in lab.

Technology Transfer