DESC:TECHNICAL FIELD

The present disclosure relates to a cleaning robot, which is a system of automating a manhole cleaning process. More particularly, the present disclosure relates to a method for automating a manhole cleaning process.

BACKGROUND

Manhole cleaning is a crucial aspect of municipal maintenance and sanitation. Manholes are access points to underground utilities such as sewers, stormwater drains, and telecommunications infrastructure. Regular cleaning of manholes is essential to prevent blockages, ensure the proper functioning of the drainage system, and maintain overall public health and safety. Generally, specialized equipment is used for manhole cleaning. The specialized equipment can include vacuum trucks equipped with suction hoses, high-pressure water jets, and other tools designed for cleaning and debris removal. In case specialized equipment is not present, the manhole may be cleaned manually.

One of the limitations of the current type of manhole cleaning is that manhole cleaning is either performed manually which renders manhole cleaning prone to human error. Additionally, life hazards to the workers engaged in manual manhole cleaning is also evident.

Accordingly, there is a need for a system and a method that overcomes the above-mentioned limitations.

The drawbacks / difficulties / disadvantages / limitations of conventional techniques explained in the background section are just for exemplary purposes and this disclosure would never limit its scope only such limitations. A person skilled in the art would understand that this disclosure and below mentioned description may also solve other problems or overcome the other drawbacks / disadvantages of conventional arts which are not explicitly captured above.

SUMMARY

This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary is neither intended to identify key or essential inventive concepts of the invention nor is it intended for determining the scope of the invention.

The present disclosure relates to a system and a method for automating a manhole cleaning process. As per an embodiment of the present invention, a system for automating a manhole cleaning process is disclosed herein. The system includes, a fixed unit or a platform, a movable unit adapted with the fixed unit, a cleaning unit disposed below the movable unit via a cord to move the cleaning unit downward into a manhole, and an electronic controller unit, configured to, detect, an environmental condition around the cleaning unit during travel of movement of the cleaning unit in the manhole, such that the environment condition detected comprises generation of sensor signal associated with presence of waste in the manhole, detect, the quantity of waste and decide whether a cycle of operation is to be continued or is in an overload condition, by using at least sensor that is mounted on the platform or the movable unit, actuate, the cleaning unit to collect a predetermined unit of waste upon detection of the waste, and actuate, the cleaning unit to travel upward out of the manhole with the waste collected by the cleaning unit.

As per an aspect of the present invention, the method includes, actuating a cleaning unit by a movable unit via a connection member to move downward into a manhole. A further step includes, detecting an environmental condition around the cleaning unit during travel of movement of the cleaning unit in the manhole, such that detecting the environment condition includes generating sensor signal associated with presence of waste in the manhole. Additionally, a further step includes, actuating the cleaning unit to collect a predetermined unit of waste upon detection of waste, followed by a step of actuating the cleaning unit to travel upward out of the manhole with the waste collected by the cleaning unit.

As per an aspect of the present invention, the step of generating the sensor data includes at least one of, detecting a distance between cleaning unit and an interior of the manhole using a sensor, capturing images inside the manhole, and / or determining an instantaneous weight of the cleaning unit, and measuring a tensile force in the cord extending between the cleaning unit and the movable unit.

As per another aspect of the present invention, the step of detecting the environmental condition includes, processing the captured images using an image processing technique to detect a plurality of objects in the captured images, and comparing the objects with a pre-stored data to determine the presence of waste.

As per yet another aspect of the present invention, the step of actuating the cleaning unit to collect the predetermined unit of waste includes, comparing the instantaneous weight of the cleaning unit upon collecting a unit of waste with a pre-stored weight value, and determining that the unit of waste is the predetermined unit when the instantaneous weight is any one of equal and greater than to the pre-stored value.

As per still another aspect of the present invention, the step of determining that the instantaneous weight of the cleaning unit upon collecting a unit of waste less than the pre-stored weight value, and actuating a collecting unit to travel further into the manhole to collect an additional unit of waste, comparing an instantaneous weight upon collection of the additional unit of waste with the pre-stored weight value, and determining that a collected unit of waste is the predetermined unit when the instantaneous weight is one of equal to and greater than the pre-stored value.

As per an aspect of the present invention, the step of actuating the cleaning unit to includes releasing of the collected predefined unit of waste outside the manhole, such that releasing of the collected predefined unit of waste is indicative of one cycle of operation.

As per another aspect of the present invention, determining, using sensor, a total amount of waste for removal from the manhole, and determining, a number of predetermined cycle, based on the total amount of waste and the predetermined unit of waste, comparing an instantaneous cycle of operation with a predetermined cycle of operation, and disengaging the collecting unit when the instantaneous cycle is any one of equal to and less than a predetermined number of cycle or the unit of waste.

As per yet another aspect of the present invention, the step of comparing an instantaneous cycle of operation with a predetermined cycle of operation and disengaging the collecting unit when the instantaneous cycle is any one of equal to and greater than a predetermined number of cycle.

As per still another aspect of the present invention, the step of detecting the overload condition of the collecting unit based on one of the instantaneous weight and tensile force in the connecting member, forfeiting the actuation of the cleaning unit, and generating an alert for a user to perform manual operation of the cleaning unit.
With the system and the method for automating the manhole cleaning process disclosed herein, the limitations seen during manhole cleaning process within the prior art are obviated. Namely, the limitation of performing manhole cleaning process manually is not required. As the process of manhole cleaning is automated by the system and the method disclosed herein, hence the manhole cleaning process is avoided from being prone to human error. Additionally, life hazards to the workers engaged in manual manhole cleaning is avoided.

Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the disclosure. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the disclosure so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

Figure 1 illustrates a schematic of an automatic manhole cleaning system, according to an embodiment of the present disclosure;

Figure 2 illustrates a block diagram showing an interaction between a control unit and a cleaning unit with a user interface unit, according to an embodiment of the present disclosure; and

Figure 3 illustrates flowchart depicting a method of operation of the automatic manhole cleaning system, according to an embodiment of the present disclosure.

Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help improve understanding of aspects of the present invention. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein.

DETAILED DESCRIPTION

For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skilled in the art to which this invention belongs. The system, methods, and examples provided herein are illustrative only and not intended to be limiting.

For example, the term “some” as used herein may be understood as “none” or “one” or “more than one” or “all.” Therefore, the terms “none,” “one,” “more than one,” “more than one, but not all” or “all” would fall under the definition of “some.” It should be appreciated by a person skilled in the art that the terminology and structure employed herein is for describing, teaching, and illuminating some embodiments and their specific features and elements and therefore, should not be construed to limit, restrict or reduce the spirit and scope of the present disclosure in any way.

For example, any terms used herein such as, “includes,” “comprises,” “has,” “consists,” and similar grammatical variants do not specify an exact limitation or restriction, and certainly do not exclude the possible addition of one or more features or elements, unless otherwise stated. Further, such terms must not be taken to exclude the possible removal of one or more of the listed features and elements, unless otherwise stated, for example, by using the limiting language including, but not limited to, “must comprise” or “needs to include.”

Whether or not a certain feature or element was limited to being used only once, it may still be referred to as “one or more features” or “one or more elements” or “at least one feature” or “at least one element.” Furthermore, the use of the terms “one or more” or “at least one” feature or element do not preclude there being none of that feature or element, unless otherwise specified by limiting language including, but not limited to, “there needs to be one or more...” or “one or more element is required.”

Unless otherwise defined, all terms and especially any technical and/or scientific terms, used herein may be taken to have the same meaning as commonly understood by a person ordinarily skilled in the art.

Reference is made herein to some “embodiments.” It should be understood that an embodiment is an example of a possible implementation of any features and/or elements of the present disclosure. Some embodiments have been described for the purpose of explaining one or more of the potential ways in which the specific features and/or elements of the proposed disclosure fulfil the requirements of uniqueness, utility, and non-obviousness.

Use of the phrases and/or terms including, but not limited to, “a first embodiment,” “a further embodiment,” “an alternate embodiment,” “one embodiment,” “an embodiment,” “multiple embodiments,” “some embodiments,” “other embodiments,” “further embodiment”, “furthermore embodiment”, “additional embodiment” or other variants thereof do not necessarily refer to the same embodiments. Unless otherwise specified, one or more particular features and/or elements described in connection with one or more embodiments may be found in one embodiment, or may be found in more than one embodiment, or may be found in all embodiments, or may be found in no embodiments. Although one or more features and/or elements may be described herein in the context of only a single embodiment, or in the context of more than one embodiment, or in the context of all embodiments, the features and/or elements may instead be provided separately or in any appropriate combination or not at all. Conversely, any features and/or elements described in the context of separate embodiments may alternatively be realized as existing together in the context of a single embodiment.

Any particular and all details set forth herein are used in the context of some embodiments and therefore should not necessarily be taken as limiting factors to the proposed disclosure.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. The details regarding construction and working of the invention disclosed herein, shall now be explained with the help of the accompanying Figures 1 through 3, as follows:

Figure 1 illustrates a schematic of an automatic manhole cleaning system 100, according to an embodiment of the present disclosure. The automatic manhole cleaning system 100 may be employed to clean a manhole. The automatic manhole cleaning system 100 of the present disclosure is designed in such a way that the automatic manhole cleaning system 100 can operate with minimum to no human intervention. The automatic manhole cleaning system 100 may monitor the manhole and the cleaning operation in real-time efficiently and effectively. The automatic manhole cleaning system 100 may include, but is not limited to, a fixed unit 102 which may also be a platform 102, a movable unit 104, a cleaning unit 106, a control unit 108, and a user interface unit 110, details of which will be provided in subsequent paragraphs.

The fixed unit 102 which may also be platform 120, may form a major part of the automatic manhole cleaning system 100. The fixed unit 102 may include a frame having a plurality of legs 112, each having a wheel 114, to allow movement of the fixed unit 102. In another embodiment, the fixed unit 102 may be mounted on a vehicle that can be parked proximate to a manhole so that the automatic manhole cleaning system 100 may be deployed. The fixed unit 102 is designed in such a way that the fixed unit 102 can be moved over the manhole, such that the cleaning unit 106 is aligned relative to the manhole. The fixed unit 102 may also include a top central portion 102A from which the movable unit 104 may be suspended. The fixed unit 102 may be designed in such a way that the other components of the automatic manhole cleaning system 100 are installed thereon. For instance, the control unit 108 and the user interface unit 110 may be installed on the fixed unit 102. Further, the user interface unit 110 may be pivotably attached to the fixed unit 102 in such a way that the user interface unit 110 can fold into the fixed unit 102 when not in use. The fixed unit 102 may also include a box 116 to receive the user interface unit 110 when the user interface unit 110 is folded and a pair of gas shockers 118 that hold the user interface unit 110 in an upright position when the user interface unit 110 is in use.

In one example, the movable unit 104 is mounted on the fixed unit 102. In one embodiment, the cleaning unit 106 is a part of the movable unit 104. The movable unit 104 may include a plurality of actuators, such as a hydraulic, pneumatic, or electric actuator, cables, and a/the motors that allow the cleaning unit 106 to travel inside the manhole. The cleaning unit 106 may be operated by the movable unit 104, such that the movable unit 104 may allow the cleaning unit 106 to not only travel vertically but also laterally to release the waste collected by the cleaning unit 106 on a collection tray installed at a side of the manhole.

The cleaning unit 106 may include a base (not shown) which may be connected to the movable unit 104. Further, the cleaning unit 106 may include a pair of buckets 120 that may be operated using a pair of hydraulic, pneumatic, or electric actuators 122. The cleaning unit 106 may be configured to travel into the manhole to collect waste from the manhole. In addition, the cleaning unit 106 may remove debris that is blocking the sewage pipe. Although the present illustration shows two buckets, a greater number of buckets may be envisioned within the scope of the present disclosure.

According to the present disclosure, the automatic manhole cleaning system 100 may include a sensor unit (not shown) that may sense the environment surrounding or the environment conditions within the automatic manhole cleaning system 100 and generate sensor data based on the sensing. The sensor unit includes sensors which are capable of sensing various parameters pertaining to the environment conditions, such as buoyancy of wet debris or waste, air resistance in the manhole, obstacles inside a manhole shaft, etc. The sensor unit may be installed at different locations. For example, the sensor unit may be installed at a location L1, i.e., at the fixed unit or at a location L2., i.e., at the movable unit 104, or at location L3, i.e., at the cleaning unit 106. In either case, the sensor unit may sense the environment and generate sensor data. A detailed explanation of the sensor unit will be provided later with respect to Figure 2.

The user interface unit 110 may be designed to allow an operator to initiate the cleaning operation and to visually inspect the cleaning operation when the control unit 108 generates an error/feedback. Accordingly, the user interface unit 110 may include a plurality of switches to provide inputs, such as START, PAUSE, STOP, POWER ON/OFF, BUCKET OPEN/CLOSE, HOIST UP/DOWN, EMERGENCY STOP, AUTO CLEAN START, among other examples. In addition, the user interface unit 110 may include a display connected to the control unit 108. A manner in which the control unit 108 interacts with the user interface unit 110 is explained with respect to Figure 2.

Figure 2 illustrates a block diagram 200 showing an interaction between the control unit 108 and the cleaning unit 106 with the user interface unit, according to an embodiment of the present disclosure. In the illustrated example, the control unit 108 may interact with the user interface unit 110, a sensor unit 124, and the cleaning unit 106. The user interface unit 110 may include the switches that are employed for initiating automatic cleaning action and emergency stopping of the control unit 108 if required. Further, the user interface unit 110 may receive a feedback signal for displaying to the user the status of various operations, such as a UI has an audio and visual unit to get the status of the following operation-related events:

1. Automatic cleaning operation is running
2. Automatic cleaning operation is finished
3. Further automatic cleaning operations cannot be performed due to the under-load of waste
4. Overload on the cleaning unit
5. Critical error in the cleaning unit
6. Presentation of such information to the user via the display unit.

The sensor unit 124 is designed to generate sensor data that may include, but is not limited to, the position of the cleaning unit 106, i.e., how deep the cleaning unit 106 is lowered in the sewage pipe via the manhole. The sensor unit 124 may include a load cell, an ultrasonic sensor, and an image-capturing device. In one example, the sensor unit 124 may detect tension and compression force experienced by the cleaning unit (robotic unit), and profile data of waste or image data of the waste is converted to electrical data by the sensor unit 124. This real-time data is transferred to the control unit 108 for performing automatic cleaning operations.

In one example, the control unit 108 may be a microcontroller and may have the ability to get control signals from the user interface unit 110, read sensor data, activate the audio & visual unit, and control the cleaning unit 106. In one example, the control unit 108 may receive different types of sensor data and may process the different types of sensor data to accurately perform the automated cleaning. For example, the control unit 108 may receive load cell data that indicates the weight of the cleaning unit 106 after the waste collection and the ultrasonic sensor data indicates the depth of deployment of the cleaning unit 106. Accordingly, the control unit 108 may determine when the cleaning unit 106 needs to be raised and by what height the cleaning unit 106 needs to be raised. In one example, the operation of the control unit 108 is based on pre-loaded information for automatic cleaning operation. The pre-loaded information may be based on historically collected data.

During the operation, when the user activates an auto clean switch on the user interface unit 110, the control unit 108 starts the downward movement of cleaning unit 106. During the downward motion of the cleaning unit 106, the control unit 108 reads the sensor data and compares the same with the pre-stored cut-off data. As mentioned before, the sensor unit 124 can be attached to the cleaning unit 106 or can be attached to the fixed unit 102 or the movable unit 104.

The control unit 108 may include the auto cleaning operation to identify whether the robotic cleaning unit has reached the top level of waste. When the sensor unit 124 detects the waste and the control unit 108 reads the corresponding sensor data, the control unit 108 will start cleaning operation and check whether minimum waste is collected or not. When a predetermined minimum waste is collected, as detected the sensor unit 124, the control unit 108 lifts the cleaning unit 106 in the upward direction and stops the cleaning unit 106 at the top of the collection tray for dumping the waste. If minimum waste is not collected, the control unit 108 activates a repeat cleaning process and lifts up the cleaning unit 106 to the top, and a visual indication is activated on the UI of the user interface unit 110 for the indication of low waste quantity.

During the lifting of the cleaning unit, if overload is experienced, the control unit 108 stops the lifting up movement of the cleaning unit 106 and an audio/visual indication is activated for overload detected.

A detailed operation for the aforementioned method is explained in detail with respect to Figure 3. Figure 3 illustrates a method 300 of the operation or working of the automatic manhole cleaning system 100, according to an embodiment of the present disclosure.

The method 300 begins at step 302 at which the control unit 108 receives the auto clean command from the user interface unit 110. Upon receipt of the command, the control unit 108, at a block 304, operates the cranes on the fixed unit 102 to move the cleaning unit 106 downward into the manhole. As the cleaning unit 106 travels downward, the sensor unit 124 detects the nearby environment and generates sensor data which is read by the control unit 108 at step 306. As a part of the generating the sensor data, the control unit 108 may acuate the camera to capture images inside the manhole. Further, the control unit 108 may also determine an instantaneous weight of the cleaning unit 106. In addition, the control unit 108 may measure a tensile force in the extending between the cleaning unit 106 and the movable unit 102. Further, as part of detecting the environment condition, the control unit 108 may process the captured images using an image processing technique to detect a plurality of objects in the captured images. In addition, the control unit 108 may compare the objects with a pre-stored data to determine presence of waste. Thereafter, the control unit 108 checks whether there is an error in the sensor data at step 308. In case there is an error, the control unit 108, at step 310, operates the crane to move upward to retract the cleaning unit 106 from the manhole and generates audio/visual feedback at step 312. On the other hand, in case there are no errors in the sensor data, the control unit 108, at step 314, processes the sensor data to determine force, profile, and/or image. In addition, the control unit 108 may compare the determined force, profile, and/or image with pre-stored data to determine a subsequent action.

At step 316, the control unit 108 may operate the crane downward to move the cleaning unit 106 further downward and simultaneously read the sensor data. At step 318, the control unit 108 checks if the waste is detected. In case the waste is not detected, the method 300 returns to step 306. On the other hand, the control unit 108 determines the waste and accordingly, the control unit 108 operates the cleaning unit 106 to start the cleaning operation at step 320. Simultaneously, the control unit 108 may also read the sensor data. Further, at step 322, the control unit 108 checks if a desired waste or predetermined unit of waste is collected. The desired waste may be determined by measuring the before and after weight of the cleaning unit 106. The control unit 108 may compare the instantaneous weight of the cleaning unit 106, upon collecting a unit of waste with a pre-stored weight value. In addition, the control unit 108 may determine that the unit of waste is the predetermined unit when the instantaneous weight is any one of equal to and greater than the pre-stored value. In case the desired waste is collected the cleaning operation is stopped at step 324. On the other hand, in case desired waste is not collected, the control unit 108, at step 326, repeats the cleaning process and reads the sensor data. The control unit 108 may determine that the instantaneous weight of the cleaning unit 106 upon collecting a unit of waste is less than the pre-stored weight value. Further, the control unit 108 may actuate a collecting unit 120 to travel further into the manhole to collect an additional unit of waste. Furthermore, the control unit 108 may compare an instantaneous weight upon collection of the additional unit of waste with the pre-stored weight value. Also, the control unit 108 may determine that a collected unit of waste is the predetermined unit when the instantaneous weight is one of equal to and greater than the pre-stored value. Further, at step 328, the control unit 108 checks if predetermined cycles of cleaning are executed. The control unit 108 may actuate the cleaning unit to release the collected predefined unit of waste outside the manhole, such that releasing of the collected predefined unit of waste is indicative of one cycle of operation. Also, the control unit 108 may determine, using sensor, a total amount of waste for removal from the manhole. In addition, the control unit 108 may determine, a number of predetermined cycle which is based on the total amount of waste and the predetermined unit of waste. Also, the control unit 108 may compare an instantaneous cycle of operation with a predetermined cycle of operation. Furthermore, the control unit 108 may disengage the collecting unit when the instantaneous cycle is any one of equal to and less than a predetermined number of cycle or the unit of waste. The control unit 108 may compare an instantaneous cycle of operation with a predetermined cycle of operation. Additionally, control unit 108 may disengage the collecting unit when the instantaneous cycle is any one of equal to and greater than a predetermined number of cycle. In case the predetermined cycles of cleaning are not executed, the method 300 returns to step 326. On the other hand, in case the predetermined cycles of cleaning are executed, the method 300 proceeds to step 324. Further, at step 330, the control unit 108 actuates the crane to start pulling the cleaning unit 106 upward with the collected waste. While actuating the cranes, the control unit 108 detects an overload condition at step 332. The control unit 108 may detect the overload condition of the collecting unit 120, which is based on one of the instantaneous weight and tensile force in the connecting member. Additionally, the control unit 108 may forfeit the actuation of the cleaning unit 106. Also, the control unit 108 may generate an alert for a user to perform manual operation of the cleaning unit (106). In case overload condition is detected, the control unit 108, at step 334, stops the crane, generates an alarm, and waits for the manual operation. In case the overload is not detected, the method 300 proceeds to step 310 and subsequently to step 312.

According to the present disclosure, the control unit 108 controls the cleaning operation intelligently. The control unit 108 gets real-time data from the sensor and compares it with cut-off values to sense waste level, waste quantity, overload, and under-load. The control unit 108 has an audio and visual indication system to know the status of the cleaning operation. Different statuses during auto cleaning operation are auto-clean mode ON/OFF, overload detected, auto-clean operation completed, and error on auto-clean unit.

With the system 100 and the method 200, 300 for automating a manhole cleaning process disclosed herein, the limitations of seen during manhole cleaning within the prior art is obviated. Namely, the limitation of performing manhole cleaning manually is not required. As the process of manhole cleaning is automated by the system 100 and the method 200, 300 for automating a manhole cleaning process disclosed herein, hence the manhole cleaning process is avoided from being prone to human error. Additionally, life hazards to the workers engaged in manual manhole cleaning is avoided.

While specific language has been used to describe the present disclosure, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.
,CLAIMS:1. A system (100) for automating a manhole cleaning process, the system (100) comprising:
a platform (102);
a movable unit (104) adapted with the platform (102);
a cleaning unit (106) disposed below the movable unit (104) via a connecting member to move the cleaning unit (106) downward into a manhole; and
an electronic controller unit, configured to:
detect, an environmental condition around the cleaning unit (106) during travel of movement of the cleaning unit (106) in the manhole, wherein the environment condition detected comprises generation of sensor signal associated with presence of waste in the manhole;
detect, the quantity of waste and decide whether a cycle of operation is to be continued or is in an overload condition, by using at least one sensor that is mounted on the platform (102) or the movable unit (104);
actuate, the cleaning unit (106) to collect a predetermined unit of waste upon detection of the waste; and
actuate, the cleaning unit (106) to travel upward out of the manhole with the waste collected by the cleaning unit (106).

2. A method (200, 300) for automating a manhole cleaning process, the method (200) comprising:
actuating a cleaning unit (106) by a movable unit (104) via a connection member to move downward into a manhole;
detecting an environmental condition around the cleaning unit (106) during travel of movement of the cleaning unit (106) in the manhole, wherein detecting the environment condition comprises generating sensor signal associated with presence of waste in the manhole.
actuating the cleaning unit (106) to collect a predetermined unit of waste upon detection of waste;
actuating the cleaning unit (106) to travel upward out of the manhole with the waste collected by the cleaning unit (106).

3. The method as claimed in claim 2, wherein generating the sensor data comprises at least one of:
detecting a distance between cleaning unit (106) and an interior of the manhole using a sensor;
capturing images inside the manhole;
determining an instantaneous weight of the cleaning unit; and
measuring a tensile force in the extending between the cleaning unit and the movable unit.

4. The method as claimed in claim 3, wherein detecting the environmental condition comprises:
processing the captured images using an image processing technique to detect a plurality of objects in the captured images; and
comparing the objects with a pre-stored data to determine the presence of waste.

5. The method as claimed in claim 3, wherein actuating the cleaning unit (106) to collect the predetermined unit of waste comprises:
comparing the instantaneous weight of the cleaning unit (106) upon collecting a unit of waste with a pre-stored weight value; and
determining that the unit of waste is the predetermined unit when the instantaneous weight is any one of equal to and greater than the pre-stored value.

6. The method as claimed in claim 3, comprising:
determining that the instantaneous weight of the cleaning unit (106) upon collecting a unit of waste less than the pre-stored weight value; and
actuating a collecting unit (120) to travel further into the manhole to collect an additional unit of waste;
comparing an instantaneous weight upon collection of the additional unit of waste with the pre-stored weight value; and
determining that a collected unit of waste is the predetermined unit when the instantaneous weight is one of equal to and greater than the pre-stored value.

7. The method as claimed in claim 2, comprising:
actuating the cleaning unit to release the collected predefined unit of waste outside the manhole, wherein releasing of the collected predefined unit of waste is indicative of one cycle of operation.

8. The method as claimed in claim 7, comprising:
determining, using sensor, a total amount of waste for removal from the manhole; and
determining, a number of predetermined cycle, based on the total amount of waste and the predetermined unit of waste;
comparing an instantaneous cycle of operation with a predetermined cycle of operation; and
disengaging the collecting unit when the instantaneous cycle is any one of equal to and less than a predetermined number of cycle or the unit of waste.

9. The method as claimed in claim 7, comprising:
comparing an instantaneous cycle of operation with a predetermined cycle of operation; and
disengaging the collecting unit when the instantaneous cycle is any one of equal to and greater than a predetermined number of cycle.

10. The method as claimed in claim 2, comprising:
detecting the overload condition of the collecting unit (120) based on one of the instantaneous weight and tensile force in the connecting member;
forfeiting the actuation of the cleaning unit (106); and
generating an alert for a user to perform manual operation of the cleaning unit (106).