4.BACKGROUND OF THE INVENTION
Sewage frameworks could be found in each general public. According to present day societal advancements expanded, sewage frameworks have turned out to be underground. Pipelines are being laid underground and carry sewage across the city. As the sewage pipelines are underground the maintenance of these sewers end up with difficulty. The customary techniques utilized were trailed by utilizing manual instruments to look after sewers. Because of various effluents that movement through sewage pipes at once the sewage gets obstructed, because of this Manhole systems get filled and flood. Since the sewage frameworks are underground, it progresses toward becoming default to distinguish blockage. What"s more, the conventional manual practices utilizes manual searching, where individuals works the sewage blockage by physically going into the Manhole structure and cleaning square.
This manual cleaning is hazardous as it is damaging to the manual specialists due the toxic gases show in the sewage funnels and Manhole structure. Particularly in India, the work of manual foragers is as yet common as there is no other innovative substitute which is efficient to recognition of blockages. A few reports in the daily papers assert that there were numerous deaths because of manual searching.
To stay away from this, as of now utilized arrangements includes utilizing force of water supply to clean blockage however this procedure can"t completely evacuate the waste all through the pipe line. The flushed waste which ventures further and gets stored along the pipe and again causes blockage. Furthermore, automated structures utilized uses the test frameworks to clean blockage at the base of the Manhole. These framework can"t give answer for blockage show in the sewage funnels. In the present blockage recognition framework the discovery of Manhole blockage is manual through assessment of flood of Manholes. So as to address this issues the proposed innovation gives answer for the foreseeing the event of blockage before it occurs with help of sensors in Manholes and create a Computational intelligence (CI) based report having points of interest of Manholes, which should be addressed first.
Aside from this, innovation proposes a mechanism in addition manual robot setup, which goes into the Manholes and in addition reaches the sewer funnels, penetrate any sort of blockage and expels the loss from Manhole and joined sewage pipelines. Creation additionally has a camera to screen the status of sewer channels and Manhole. This innovation has advantage over others as far as control, simplicity of task and toughness with

which boring and expelling of waste happens.
5. OBJECTIVE OF THE INVENTION: To propose arrangement through development by foreseeing the event of blockage before it occurs with help of sensors in Manholes and produce a CI based need answer to address the Manhole blockage, through automation in addition manual robot setup. Which goes into the Manhole framework and also the sewer funnels, bore any sort of blockage and expels the waste. Creation likewise has a camera to screen the status of sewer channels and Manhole and give proficient outcome to blockage evacuation by penetrating and expelling of waste.
Complete
The following specification completely describes the invention and the manner in which it is to be performed
4. DESCRIPTION
DESCRIPTION ABOUT DRAWING
Detailed description
In this Invention, the proposed process comprises of an Sensor gathering[47] with GPS and GSM modules connected to the inward surface of every Manhole[50]. Whenever any blockage happens in any Sewage pipeline[51], blockage will discourage the stream of sewage water. This water gets amassed and the sensor[47] detects water flood and sends indication to the Cloud[48]. In the Cloud, a table is kept up which has Manhole number, status of Manhole as blocked/unblocked and location of Manhole[50].Computational Intelligence algorithm display in the Cloud[48] forms the information to introduce in the table with Manhole[50] which are in blocked state. The calculation produces the report which contains the Manhole[50] that must be gone to as indicated by need. This report is sent to Sewage control board. The Sewage control board will allocate an administrator with the mechanical framework alongside control board to go to the blockage. The operator from Sewage control board address blockage issue with automated robot system.

Brief description of the drawings
The sewage removal robot frame work comprises of following parts Figure 1:
[42] Box metal frame: The box metal frame support the entire robot system on it.
[43]Control panel: The Control panel consists of all the driving circuits, relays, solenoids, microcontroller, switches and LEDs.
[44]Double acting Cylinders: The Cylinders are attached firmly to the aluminum plate with help of fixtures.
[45]Metal hollow bin: The Metal hollow bin houses the Robot Unit and it has holes for passage of water.
[46]The Robot Unit consists of a skeleton structure to support and house all the components.
[47]Detection system: The detection system consists of sensors, microcontrollers and GSM module. It will be placed in each and every Manhole with sensors in it.
[48]Cloud: The database will be present in the Cloud which will receive signals and store data from the detection system from all the Manholes.
[49]Control board office: The control board office will have the application to monitor the status of Manhole.
[50]Manho!e: The robot system will be placed on top of the Manhole which is blocked.
[5 l]Sewer pipes: the Robot Unit will go inside the sewer pipes and clear the blockage.
[52]Road level: The robot system along with the Control pane! will be placed on the road level.
Figure 2:
[l]Control panel: The Control panel consists of all the driving circuits, relays, solenoids, microcontroller, switches and LEDs.
[2]Display Screen: An LCD display screen, which displays the video from camera placed on the Robot Unit, is placed at the top of control box to monitor the operations of the robot.
[3]LED Panel: The LED panel consists of series of LEDs (LED1, LED2, LED3, LED4, LED5, LED6, LED7, LED8, LED9, LED 10, LED11) to indicate the operation of the robot.
[4]Switch panel: The Switch panel consist of series of switches to control the operation
of the robot system.

[5]Exhaust fan: The exhaust fan is placed inside the Control panel to maintain the temperature of the Control panel.
[6]Cable slots: The cable slots provide passage way for all the wires which connects the robot system to the Control panel.
Figure 3:
[7]Box metal frame: The box metal frame support the entire robot system on it.
[8]Stainless Steel plate: The Stainless Steel plate is the support plate for all the Motors and pulley arrangement.
[9]Motor 1: Motor 1 is a stepper Motor coupled with the pulley arrangement which rotates clockwise.
[10]Motor 2: Motor 2 is a stepper Motor coupled with the pulley arrangement which rotates anticlockwise.
[H]Pulley arrangement I: This pulley arrangement 1 is coupled with Motor I with gearbox assembly.
[12]Puiley arrangement 2: This pulley arrangement 2 is coupled with Motor 2 with gearbox assembly.
[13]Metal wire rope: the metal wire rope connects the Aluminum plate with the pulley arrangement 1 and the pulley arrangement 2.
Figure 4:
[14]Metal hollow bin: The Metal hollow bin houses the Robot Unit and it has holes for passage of water.
[15]Double acting pneumatic Cylinder 1: This Cylinder 1 is attached firmly to the aluminum plate with help of fixtures.
[16]Double acting pneumatic Cylinder 3: This Cylinder 3 is attached firmly to the aluminum plate with help of fixtures.
[17]Double acting pneumatic Cylinder 2: This Cylinder 2 is attached firmly to the aluminum plate with help of fixtures. At the end of this Cylinder the Metal hollow bin is attached
[18]Limit switch 3 : Limit switch 3 (LS3) is attached to Cylinder 1.
[19]Limit switch 4: Limit switch 4 (LS4) is attached to Cylinder 3.
[20]Limit switch 5: Limit switch 5 (LS5) is attached to Cylinder 2.

[21]Aluminum plate: The aluminum plate consists of all the Cylinders with fixtures.
Figure 5:
[22]Guide way mechanism: The guide way mechanism is placed at bottom of the aluminum plate with help of fixtures.
[23]Limit switch 1: Limit switch 1 (LSI) is attached at the bottom rear of the Metal hollow bin.
[24]Limit switch 2: Limit switch 2 (LS2) is attached at the bottom front of the Metal hollow bin.
Figure 6:
[25]Limit switch 10: Limit switch 10 (LS10) is attached to bottom surface of SS plate.
[26]Limit switch 11: Limit switch,! 1 (LSI 1) is attached to bottom surface of SS plate.
Figure 7.
[27]Skeleton structure: Skeleton structure supports and houses all the components in Robot Unit. The skeleton structure has 3 axis to support with a lead screw mechanism to make it expand and compress.
[28]Lead screw mechanism: The Lead screw mechanism is coupled with the skeleton structure to make the Robot Unit expand and compress.
[29]A-plate: The A-plate is fixed to the skeleton structure on all 3 axis. On top of this A-plate, all the DC Motors and limit switches are placed.
[30]Motor3: The Motor3 is encased in the housing of the skeleton structure.
[31]Circular expanding mechanism: Circular expanding mechanism is coupled with a servo Motor and expands and compresses according the rotation of servo Motor.
[32]Drilling tool: The drilling tool is coupled to the Motor3 firmly.
[41]Waterproof camera: The waterproof camera is placed on the A-plate only in one axis.
Figure 8:
[33] Motor4: Motor4 is a stepper Motor which is encased in the Skelton structure and coupled with the lead screw mechanism.
[34]Servo Motor: Servo Motor is fixed at backside of Motor4 and coupled with the circular expanding mechanism.
[35]Timing pulley and belt system :The timing pulley and belt system is attached to all the DC Motors. On each axis there will be Four timing pulley and two belt system.

[36]DC Motors: These DC Motors are firmly fixed on the A-plate with help of fixtures and coupled with the timing pulley and belt system.
[37]Limit switch 9: Limit switch 9 (LS9) will be fixed to the rear end of the Robot Unit.
Figure 9:
[38]Limit switch 6: Limit switch 6 (LS6) is fixed to the A-plate of axis 1.
[39]Limit switch 7: Limit switch 7 (LS7) is fixed to the A-plate of axis 2. [40]Limit switch 8: Limit switch 8 (LS) is fixed to the A-plate of axis 3.
Component Assembly:
The robot setup contains the accompanying segments:
l.Box Metal edge[42] with 4 wheels for supporting the robot setup.
2.Control board[43] with all the driving circuits, transfers, solenoids, microcontroller,
switches, LEDs" and show unit.
3.Compressor of 24 liters ability to supply air to the pneumatic framework.
4.Generator to supply power to the robot setup.
5.The box metal edge[42] has a Stainless Steel (SS) plate[8] put to finish everything.
6.Two stepper engines specifically, Motorl [9] and Motor2 [10]  are put on the Stainless
Steel plate[8] alongside two apparatus box and pulley game plan[7] with Metal wire
rope[13].
7.Bottom of Stainless Steel (SS) plate[8] will have two plunger compose constrain switches
names LS10[25] and LSI 1 [26].
8.The Metal wire rope[13] will be suspended by associating it to an Aluminum plate[21]
with help of apparatuses
9.On top of Aluminum plate[21], there will be 3 double acting pneumatic Cylinders to be
specific Cylinderl[15], Cylinder2[l7] and Cylinder3[16] put immovably with help of
apparatuses.
10.The closures of Cylinderl[l5] and Cylinder3[16] will be are end effectors fitted with two
Limit Switches (LS) to be specific LS3[18] and LS4[19] individually. Cylinderl[15] and
Cylinder3[16] will be put such that, the chamber stretches out inverse way to each other.
11.Bottom of Aluminum plate[21] will have a guide way instrument.
12.Cylinder2 [17] will be put in the middle of Cylinderl[15] and Cylinder3[l6].
13.Metal hollow bin[45] with little gaps on its sides will be associated with end of Cylinder

2[17] and furthermore the container will be joined to the guide route component on the
[21]Aluminum plate.On base surface of Metal hollow bin[45], there will be two Limit
switches to be specific LSI [23] and LS2[24] put on outrageous edges of Metal hollow bin
[45].
14. At the finish of Cylinder2 [17], there will be Limit switch specifically LS5[20] mounted
with help of installations.
15.The Robot Unit[46] will be set inside the Metal hollow bin[45].
16.The Robot Unit[46] comprises of a skeleton structure to help and house every one of the
segments. The skeleton structure has 3 axis to support with a lead screw mechanism to make
it expand and compress. A-shape support plate[29] will be attached to all the 3 axis.
17. On top of the support plate, there are 12 DC Motors [36] mounted using fixtures. Each
axis has 4 Motors mounted on it on different direction. Out of these 4 Motors on each axis,
two Motors as a pair will be attached with a timing pulley and belt system[35]. Similarly,
like this arrangement 6-belt arrangement will be connected overall on all 3 axis of the Robot
Unit[46]. On top of the 3 support plates, limit switches will be mounted, one limit switch on
each of support plate namely LS6[38], LS7[39] & LS8[40] with help of fixtures.
18.At the front end of skeleton structure[27], a stepper Motor namely Motor 3[30] will be
mounted. The Motor will be coupled with a drilling tool[32]. At the backside of the skeleton
structure[27], a Stepper Motor namely Motor4[33] will be mounted. This Motor 4[33] will
be coupled with the lead screw[28] and with help of this Motor 4[33] and it can expand and
compress the entire Robot Unit [46].
19.At the backside of the Robot Unit[46], here will a Servo Motor[34] namely Motor5
mounted. The Motor5 will be coupled with a circular expanding mechanism along with a
Limit switch namely LS9[37].
20.At one of the 3 axis, a Waterproof camera[41] wilt be placed to know the details of the
Manhole[50] and Sewer pipe[51].
21. A powering and control cable will be attached to the rear end of the Robot Unit[46].
OPERATING PRINCIPLE:
The procedure of sewage blockage expulsion robot includes three primary components to be
specific l)Data acquisition 2)Data analysis and 3) Data accessing
1) Data acquisition: Sensor gathering connected to the internal surface of Manhole will send
the points of interest of Manhole status of blockage/unblock age to Cloud.
2) Data  analysis:  Unique  report  containing  the  points  of  interest  of  area  of

blocked/unblocked Manhole framework with assigned Manhole number will be organized through table will be set up by CI calculation in Cloud will be sent to sewage treatment plant 3) Data accessing: The CI report from Cloud will be gotten to by Sewage control board to address the need issue. In settling sewage blockage utilizing mechanical system.
Operation Of The Device
For the task of sewage blockage evacuation, the administrator alongside the robot will go to the area according to the report and fix the robot onto the track exhibit inside the Manhole system. The administrator can control the tasks of the robot with help of control board, which will contain changes to work the robot, LED to demonstrate the phase in which robot is available and a LCD show to demonstrate the points of interest of Manhole system of the camera exhibit on the robot.
The administrator can control the robot in two modes:
Model: Automatic operation
Mode2: Manual operation
Automatic operation (Mode 1):
In model, the administrator will place the setup onto the Manhole and switch on the
automatic switch.
This will enable Motorl[9] and Motor2[10], which moves the Robot Unit[46] placed in
Metal hollow bin[5] downwards. This operation will carry on until LSI[23], LS2[24]
V i actuates, and LED1[3] and LED2[3] will be turned on in the Control panelfll. After this,
Cylinder 1[15] and Cylinder 3[16] will extent horizontally until it touches the walls of
Manhole[50]. As soon Limit switch LS3[18] andjLS4[l9] touches the walls of Manhole[50],
pneumatic Cylinders Cylinderl[l5] and Cylinder3[16] stop moving and gets clamped firmly
to the walls of Manhole[50] and LED3[3]& LED4[3] will be turned on. After this operation,
Cylinder2[17] along with the Metal hollow bin[5] and Robot Unit[46] will extend until the
LS5[20]touches the Manhole[50] wall and LED5[3] gets turned on. The Robot Unit[46]
placed inside the Metal hollow bin[5] will move forward up to a Small distance until it goes
fully into the sewer pipe[51]. After this Motor4 [33] will start and the Robot Unit [46] will
expand using lead screw mechanism[28]and it will expand until limit switches LS6[39], LS7
[38] and LS8[40] touches and the LED6[3], LED7[3], LED8[3] turned on. This will enable
to Robot Unit[46] to be firmly clamped to the sewer pipe[51]. The Robot Unit[46] is
designed in such a way that, it can expand from 8 inches to 17 inches according to any

sewer pipe[51]. Then the Robot Unit will move forward with help of 12 DC Motors[36] and Belt arrangement[35] and the same time Motor 3[30] will actuate in-turn rotating the Drilling tool[32]. This operation will carry on until the operator sees the display[2] and switches[4] on the backward switch. The expanding mechanism placed at backside of Robot Unit[46] will expand as the Motor 5 actuates and Robot Unit[46] will come back dragging all the waste to the bin. As soon as the Robot Unit [46] comes inside the Metal hollow bin[5], limit switch LS9[37] touches end of Metal hollow bin[5] and LED9[3] gets turned on. As soon as this happens, pneumatic Cylinderl[15], Cylinder2[17] & Cylinder3[l6] will retract fully which will de-clamp the entire Metal hollow bin[5] setup. After this operation the Motorsl[9] and Motor2 [10] will make the entire setup come back vertically up until the setup touches limit switch LS10[25] and LS11[26] which makes LED10[3] &LED11[3] turned ON. The waste will be collected in the Metal hollow bin[5] setup and the operator can switch off the Robot Unit[46] setup in Control pane![l].As the blockage is cleared, the waste water flows freely and the water level will decrease. This status of Manhole is sent to the C!oud[48].
Manual operation (Mode2):
In this Mode, the operator can see the status of the Robot Unit[46] setup on the Control panelfl] with help of LEDs[3] and display unit[2]. He can control manually all the operations of Robot Unit[46] discussed in model. The operation can be controlled using[4]switches present on the [l]Control panel. As the blockage is cleared, the waste water flows freely and the water level will decrease. This status of Manhole[50] is sent to the Cloud[48].

CLAIMS
I/We claim that-
Claim(l):Sewage blockage removing robot with computational intelligence and Pneumatic system for smart city IoT comprises of three mechanisms: Sewage blockage detection system; An Robotic framework ; and feedback system to provide status of blockage clearance.
Claim(2): Sewage blockage detection system of claim (1) further comprises of an a Sensor assembly with GPS and GSM module to detect Sewage blockage in Manhole system and updates location of sewage blockage to Cloud.
Claim(3):The Cloud referred in claim(2) is further characterized by unique computational intelligence algorithm to form composite result consisting Manhole status and sends this information to the Sewage control board to address the blockage issue on priority.
Claim(4):An Robotic framework of claim(l) further characterized by Metal hollow bin,
mobile robotic structure, Drilling tool ,and control unit.
Claim(5):Metal hollow bin referred in claim(5) is pours bin used to mount the mobile robotic
structure.
Claim(6):Mobile robotic structure referred in claim (4) &claim(5) is further characterized by
Motors and timing pulley belt system to initiate mechanism of mobility through sewage
pipes.
Claim(7):Drilling tool referred c!aim(4) is attached to mobile robotic structure used to drill
sewage block.
Claim(8):Control unit referred Claim(4) further characterized by controlling the operations
of robotic framework.
C!aim(9): R.obotic framework of claim(l) further characterized by water proof camera
assembly used to scan sewage blockage.
Claim(10):Feed back system of Claim(l) refreshes sewage blockage clearance status to
Cloud.