Technical Field

[001] The disclosure of the present invention relates to a portable and self-powered device and a system, for identification and removal of an obstacle from a location.

Background of the invention

[002] At a time of an occurrence of a disaster or an accident, particularly, at remote and inaccessible locations, it is challenging to deploy personnel or mechanized devices, in order render aid or provide services, where the last mile accessibility to the desired locations, is hampered by factors such as inhospitable conditions and geographical constraints.

[003] Whereas, in industrial environments, particularly hazardous and toxic environments, there are challenges in not only deploying personnel but also in managing robots in such environments, due to limitations in deploying and manipulating these resources, in view of limitations in handling the evolving or dynamic scenarios, more particularly, those scenarios, where medium of the environment israpidly changing and the surface of the environment is rapidly undergoing change from normal terrain to an abnormal terrain.

[004] In urban topographies, particularly, in congested topographies, the available drainage system, is a very important civic need, which is normally a network of drain channels (open and closed channels) and inspection chambers. This network is often filled with solid wastes, such as plastic, cloth, paper construction material, food, biological rejects, dead vermin, synthetic and natural fibers, kitchen and bathroom rejects, etc., which may also be a combination of non- biodegradable and biodegradable wastes, which flow along with drainage network and get accumulated progressively, particularly due to in-drain obstacles such bottles, sticks, roots, etc., and clog the drainage channels, resulting in choking and flooding of nearby and downstream areas. The accumulation of the non-biodegradable and biodegradable materials such as construction waste, debris, silt, cloth or sticks settle in drainage channel and decrease the effective depth of the drainage network. The removal of the solid waste from urban drainage channels has been a challenge both in terms of identification, inspection and removal (clearance), primarily in view of the impediments faced in accessing the site of obstruction, which is often subterranean. Cleaning of drainage channels is often manual and undignified, exposing the personnel to harmful gases and highly infectious and hazardous materials during operations, which may also cause fatalities, where the personnel use tools such as rodding device, to reach out to the site of obstruction, to de-clog or clear the drainage channels.

[005] Cleaning of sewers from dirt or other kinds of blockings is also performed by means of spouting pressured water into or through those sewage pipes where the blockages are detected. However, solid waste such as building debris, silt and entangled fibers/sticks cannot be removed easily in this way.

[006] In some drainage systems, the growth and ingress of roots of plants inside the drainage channels, may aggravate the cause of obstructions also posing as hindrance not only in reaching the source of obstruction but also in its removal. [007] Sewer cleaning robots are also used that are equipped with a mill/fraise, drill or grinder with which the object can be cut loose or crumbled into smaller particles such that it can be removed or flushed out of the sewer. The robots are connected to a mobile unit above ground by means of a data cable, electricity cable and/or hydraulic or pneumatic pressure hose for feeding its moveable parts with control instructions and energy.

[008] The currently available solid waste removal machines, such as jetting-sucking machines and desilting machines are mounted on heavy vehicles, which become unviable accessing drainage channels that are located in narrow, inaccessible and congested areas.

[009] Therefore, the challenges in handling the removal of solid waste debris from urban drainage channels are two-fold, viz., identification of the nature and source of obstacle from the subterranean drainage channels and its removal, without subjecting the personnel to inhuman practices and exposing them to the inherent dangers associated with the debris removal.

[010] In addition, the systems for the removal of obstacles from locations that are hard-to-reach, reactors, particularly radioactive reactors, industrial installations, which are currently in use are bulky, complex and with hard-wired architecture. These systems require a heavy transportation or a dedicated system assigned to a desired location for obstacle removal.

Objects of the present invention

[Oil] An object of the present invention is to provide a portable and self-powered device and a system, for identification and removal of an obstacle from a location. [012] Another object of the present invention is to provide a a portable and self-powered device and a system for inspection, identification and obstacle removal in manually hard-to-reach, hazardous, unsafe and undignified situations such as inside building debris, manholes, sewer lines, storm water drains, boilers, hazardous industrial installations, where the main requirement is to provide feedback on the environmental safety, remote visual inspection and clearing of any obstacles that hinder the operation and functioning of the system.

Summary of the present invention

[013] The present invention provides a portable and self-powered device, for identification and removal of obstacles from a location, with a holder, including first and second operating members and a spool, which are connected to first and second operating cables and to a spool operating cable. A bracket with an inner movable frame and a peg is disposed at one end of the holder, the peg is connected to the spool, through the spool operating cable. A movable inspector that is configured to move vertically and horizontally, is connected to the inner movable frame and to the first operating member through the first operating cable. A movable obstacle identifier and remover with a tether, is mounted on a deployment platform of the hollow holder. A quick release lever of the holder is connected to the movable obstacle identifier and remover and to the second operating member, through the second operating cable and is configured to detach the movable obstacle identifier and remover, from the deployment platform. The present invention also provides a portable and self-powered system, for identification and removal of obstacles from a location. Brief description of the drawings

[014] FIGs.l(a-b) are the isometric views of the device of the present invention with a movable inspector and a movable identifier and obstacle remover.

[015] FIG.1(c) is the isometric view of the device of the present invention with a movable identifier and obstacle remover and without an integrated movable inspector.

[016] FIG.2(a) is a magnified view of a movable inspector.

[017] FIG.2(b) is an exploded view of the movable inspector.

[018] FIG.3(a) is an isometric view of the movable identifier and obstacle remover where the immobilizer assembly is in an undeployed condition.

[019] FIG.3(b) is an isometric view of the movable identifier and obstacle remover where the immobilizer assembly is in deployed condition.

[020] FIG.3(c) is an isometric view of the movable identifier and obstacle remover where a movable neck and a body are fused.

[021] FIG.3(d) is a side view of the movable identifier and obstacle remover where the immobilizer assembly is in an undeployed condition.

[022] FIG.3(e) is a side view of the movable identifier and obstacle remover where the immobilizer assembly is in deployed condition.

[023] FIG.3(f) is a side view of the movable identifier and obstacle remover where a movable neck and a body are fused. [024] FIG.4 (a) is a side view of the movable head

[025] FIG.4(b) is a side open view of the movable head

[026] FIG.4(c) is an exploded view of the movable head.

[027] FIG.5is a sectional view of a movable impact member.

[028] FIG.6(a) is an isometric view of the movable neck, FIG.6(b) is an open view of the movable neck and FIG.6(c) is an exploded view of the movable neck and FIG.6(d) is a side open view of the movable neck.

[029] FIG.7(a) is a side open isometric view of the movable body where the immobilizer is in deployed stage and FIG.7(b) is an exploded view of the immobilizer assembly.

[030] FIG.8 is an exemplary high-level system architecture of the device of the present invention.

[031] FIGs.9(a-b) flow charts illustrating the exemplary functional aspects of the portable device and system of the present invention, where the movable inspector and the movable obstacle identifier and remover is used in a drainage channel.

[032] FIGs.lO(a-b) flow charts illustrating the exemplary functional aspects of the portable device and system of the present invention, where only movable obstacle identifier and remover is used in a drainage channel.

Detailed Description of the invention

[033] The present invention relates to a portable and self-powered device, for identification and removal of obstacles from a location device for a remote inspection, identification and removal of obstacles at desired locations, where locations are surface-based and subterranean. [034] Initially, referring to FIGs.l(a-c), the preferred embodiments of the device (100a) for a remote inspection, identification and removal of obstacles at desired locations, where locations are surface-based and subterranean.

[035] A holder (129) with proximal and distal ends, is preferably a hollow and an elongated member of adjustable length and is made of any suitable material such as metal, alloy or a polymer or any other non-corrosive and rigid material. The holder (129) can also be made of a solid material. The holder (129) can also be made of an electrically insulating material or coated with any such material. The holder (129) is portable and configured to assist a user in holding and carrying a movable inspector (101) and the movable identifier and obstacle remover (102), (as more fully described hereinafter), to desired locations, where the topographies are remote and variable, such as terrain, subterranean, marshy areas, partially submerged areas, submerged areas, areas with undulations, unstable terrain, and hazardous locations. These locations may also have rocks, debris, slush and slippery surfaces.

[036] A bracket (103) is connected to the distal end of the holder (129), through pins (104). The bracket (103) is exemplarily shown as a circular structure and it is understood here that other suitable shapes, which are non-circular can be suitably adapted for use as the bracket (103).

[037] An inner movable frame (105) is movably arranged along the inner surface of the bracket (103) and pivoted through pins (198). A peg (128) is connected to the inner movable frame (105). [038] A first operating member (124) is connected to the proximal end of the holder (129). The first operating member (124) is advantageously a lever. The first operating member (124) is connected to a first operating cable (125) and the first operating member (124) is permitted to pass through the inner portion of the holder (129) towards the distal end of the holder (129).

[039] A second operating member (132) is connected to the proximal end of the holder (129). The second operating member (132) is advantageously a lever. The second operating member (132) is connected to the second operating cable (133) and the second operating member (132) is permitted to pass through the inner portion of the holder (129) towards the distal end of the holder (129).

[040] A spool (126) is mounted on the proximal end of the holder (129). A spool operating cable (127) is connected to the spool (126) and permitted to pass through the inner portion of the holder (129) towards the distal end of the holder (129).

[041] A movable inspector (101) that is configured to move vertically and horizontally, is connected to the inner movable frame (105) and to the first operating member (124) through the first operating cable (125). The movable inspector (101) inspector is provided with

[042] The movable inspector (lOl)includes a housing (107), which is a hollow member. The one end of the housing (107) is hermetically sealed with an end cap (108) having an opening (109). The first operating cable (125) that is operable by the first operating member (124) is fastened to the end cap (108), through the opening (109). [043] A slider ring (112) with guide rails (114) is mounted on the housing (107) and the guide rails (114) with tensioners (115), are connected to the inner movable frame (105). The slider ring (112) is mounted on the housing (107) and is disposed to slide along the surface of the housing (107).

[044] The guide rails (114) are arranged on the lateral sides of the housing and along the longitudinal axes of the housing (107) and are connected to the slider ring (112), through guide holes (113). The both ends of the guide rails (114) are rigidly connected to the inner movable frame (105) through the formation of holes. The opposite or other ends of the guide rails (114) are mounted on the housing (107), preferably the ends of the guide rails (114) are riveted to the housing (107).

[045] Tensioners (115) that are mounted on the guide rails (114) in arranged between slider ring (112) and the inner movable frame (105). The first operating cable (125) when operated by the first operating member (124), pulls the housing (107) towards the holder (129) and produces a compressive load on the tensioners resulting in the contraction of the tensioners (115). The tensioners (115) can be springs made of metals, alloys, memory alloys and polymers. Alternately, pistons can be suitably adapted for use as tensioners (115).

[046] It is also within the purview of the invention to place guide rails (114) with tensioners (115), inside the housing (107) and connecting the guide rails (114) to the inner movable frame (105).

[047] Slotted windows (111) are formed on the housing (107), as particularly shown in FIG.2(a). The slotted windows (111) allow the ingress and egress of fluids that are present in the surrounding areas of the movable inspector (101), into and outside the housing (107). [048] The distal end of the housing (107) is hermetically sealed with an optically transparent lid (110) that is made of a transparent material, such as glass, polymer and ceramic or a combination thereof.

[049] A wiper (116) is movably disposed on the optically transparent lid (110) and connected to a micro rotatable shaft (197). The micro rotatable shaft (197) rotates the wiper (116) when actuated by the power source of the movable inspector (101). The wiper (116) clears the accumulation of sludge or dirt from the optically transparent lid (110). It is also within the purview of the invention, to use a optically transparent lid (110) that vibrates, which can shake or clear off the sludge or dirt from the optically transparent lid (110).

[050] Sensors (117) are arranged on a lid frame (110a) of the optically transparent lid (110). These sensors (117) are preferably proximity sensors, such as sonar sensors and temperature sensors. The sensors (117) are used to secure the profile, particularly 3-D profile of the location in which the movable inspector (101) is operating. It is understood that any other type of sensors such as IR, water, soil and air quality sensors can also suitably arranged.

[051] Now, by specifically referring to FIG.2(b), an arrangement of an optical system that is housed inside the housing (107) is described. The optical system includes a camera (118) that is supported with IR emitters (119). The optical system is mounted on a mount (120). In addition, if required, focus lights can be arranged, in conjunction with the IR emitters to illuminate the location, in which the movable inspector (101) is operating. The mount (120) is disposed in proximity to the distal end of the housing (107) and the mount is provided with a slot to permit the connectivity of an inspector controller (121), as hereinafter described. In this exemplary embodiment, a single camera (118) is used to capture the images of the obstacles. It is within the purview of the invention to use at least a pair of cameras, which are laterally separated (even to extend beyond the probe casing) and with converging means, to converge on the left and right perspectives of the obstacle. The captured left and right perspectives of the obstacle can be use to render a 3-D or stereovision of the obstacle for an end user, with a variable depth perception.

[052] Probes (122) are arranged through the holes of the housing (107) and the probes (112) are disposed in the area of slotted window (111), to probe the nature of working media or fluids that surround the movable inspector (101). The probes (122) are selected to not only to detect pH and temperature of the media (gas and fluid) that is prevailing at the desired location (for instance drainage channel), but also to detect the presence of substances that are toxic, hazardous, explosive and inflammable, at the location.

[053] The inspector controller (121) is arranged in the housing 107 with suitable electronics that are arranged on a PCB, to operate the various components that are electrical, mechanical and optical, of the movable inspector (101) and to communicate with end user system architecture.

[054] A power source (123) is also arranged in the housing (107)and connected to the inspector controller (121), to cater to the power requirements of the movable inspector (101). It is understood here that the power source can be a DC/AC unit and can be directly connected to an external power source. The power source can also be battery pack, which can be charge through an external power source or from through a solar energy.

[055] The camera (118), IR emitters (119), sensors (117), wiper (116) and probes (122) are connected to the inspector controller 121, by establishing one of a digital, analogue or wireless connectivity.

[056] Now, the preferred embodiments of the connectivity of the movable identifier and obstacle remover (102) with the holder (107) are described.

[057] A deployment platform (130) is connected to the holder (129) through a notch in the holder (107).

[058] A quick release lever (131) is pivoted to the holder (107) and connected to the second operating lever (132) that is connected to the second operating cable (132).

[059] The movable identifier and obstacle remover (102) is mounted on the deployment platform (130) and detachably clamped or held by the quick release lever (107).

[060] A tether (134) is connected to a tail anchor (135) of the movable identifier and obstacle remover (102), through its one end and the other end is operated by the user during the course of operation for the retrieval of the movable identifier and obstacle remover (102), from the working location.

[061] Now, the illustrative embodiments of the movable identifier and obstacle remover (102)are described by referring to FIGs.3(a)-(f). The movable identifier and obstacle remover (102) is constructed with a movable head (145), a movable neck (146)and amovable body member(147). The movable head, neck and body members (145, 146 and 147)are connected inter se, to perform synchronized and reciprocal movements.

[062] As shown in FIG.3(b), the movable head (145) is arranged to move vertically from above the movable head (147). The immobilizer assembly (178) is also arranged to move vertically from above the movable head member (147).

[063] In another exemplary embodiment, as shown in FIGs.3(c) and (f), the movable head (205) is fused to the movable body (147) through a connector block (200). The movable obstacle identifer and remover (102), as obtained in this arrangement, can assist in removing harder obstacles, by providing an increased strength and tolerance to the movable neck (205), during the course of obstacle removal.

[064] As shown in FIGs.3(d) and (e), the immobilizer assembly (178) of the movable obstacle identifier and remover (102), is shown in un-deployed and deployed conditions.

[065] The movable obstacle identifier and remover (102) includes a movable head (145) with a screen (151), a head camera (152a) with IR emitters (152b) and proximity sensors (153).

[066] The proximity sensors (153) are sonar sensors. The sensors (153) are used to secure the profile, particularly 3-D profile of the location in which the movable obstacle identifier and remover (102) is operating. It is understood that any other type of sensors such as IR, water, soil and air quality sensors can also suitably arranged.

[067] A movable neck (146) is connected to the movable head (145). A movable body (147) with body movers (174) and the immobilizer assembly (178) is connected to the movable neck (146). As an exemplary embodiment, the body movers (174) are preferably shown as wheels. It is within the scope of the invention to use other body movers such as sliders and track conveyors, depending on the terrain of the location.

[068] A tail anchor (135) is connected to the body (147) and to the quick release lever (131).

[069] Probes (196) are arranged in a slotted casing (195), to probe the nature of working media or fluids that surround the movable obstacle identifier and remover (102). The probes (196) are selected to not only to detect pH and temperature of the media (gas and fluid) that is prevailing at the desired location (for instance drainage channel), but also to detect the presence of substances that are toxic, hazardous, explosive and inflammable, at the location.

[070] An obstacle removing controller (194) is arranged in the movable obstacle identifier and remover (102) with suitable electronics that are arranged on a PCB, to operate the various components that are electrical, mechanical and optical, of the movable obstacle identifier and remover (102) and to communicate with end user system architecture.

[071] A power source (177) is also arranged in movable obstacle identifier and remover (102) and connected to the obstacle removing controller (194), to cater to the power requirements of the movable obstacle identifier and remover (102). It is understood here that the power source can be a DC/AC unit and can be directly connected to an external power source. The power source can also be battery pack, which can be charge through an external power source or from through a solar energy.

[072] The head camera (152a), IR emitters (152b), proximity sensors (153), probes (196) are connected to the obstacle removing controller (194), by establishing one of a digital, analogue or wireless connectivity.

[073] The obstacle removing controller (194) is disposed in the body (147) and operably connected to a power source (177), the movable head (145), the movable neck (146), body movers (174), immobilizer assembly (178), the head camera (152a), the IR emitters (152b) and the proximity sensors (153) that are arranged in a body member housing (148).

[074] The movable impact member (144) includes a tool holder shaft (158), a linear actuator (159) is connected to the tool holder shaft (158) andthe linear actuator (159) is connected an impact shaft (160) through a force sensor (161), the tool holder shaft (158), the linear actuator (159), the impact shaft (160) and the force sensor (161) are disposed in the impact member housing (162). The force sensor is operably connected to the remover controller (194).

[075] The obstacle removal tool can be an impact or non-impact tool. The obstacle removal tool can also be equipped with laser and/or ultrasonic emitters for removing the obstacle.

[076] In this exemplary embodiment, a chuck (150) is used as a tool for the obstacle removal. The obstacle removal tool (150) is a removable tool and can be removed from the head member (145).

[077] A corrosion resistant transparent screen (151) is mounted in the front portion of the head (145). The transparent screen (151) is also advantageously provided with a waste repelling or removal means, such as hydrophobic coating, vipers, vibrator, oscillators, for the removal of waste that gets accumulated on the screen (151), during the course of removal of the obstacle. One or more body member cameras (152) with infra-red emitters such as LEDs and proximity sensors are arranged in the body member housing (148). The head member cameras (152a) are used to capture the images of the obstacle, even in total or partial darkness situations. Body Proximity sensors (153) are disposed to analyze the location of the obstacle. In this exemplary embodiment, a single camera is used to capture the images of the obstacles. It is within the purview of the invention to use at least a pair of cameras, which are laterally separated and with converging means, to converge on the left and right perspectives of an obstacle. The captured left and right perspectives of the obstacle can be used to render a 3-D or stereo vision of the obstacle for an end user, with a variable depth perception and to precisely locate the obstacle. The rear end of the body member housing (148) is provided with openings (154) and shaft holders (155) are mounted in proximity to the openings 154.

[078] A motor (156) with a gear mount assembly (157) is connected to the obstacle removal tool (150) to act as a driving member. The gear mount assembly (157) is connected to the obstacle removal tool 101, to transmit a combination of variable speed, torque, impulse and impact drive to the obstacle removal tool (150).

[079] The head member (145) of the obstacle remover is provided with a tool to measure the type and nature of the obstacle. In this exemplary embodiment, the tool that is used is an impact tool to measure the hardness and softness of the obstacle. The impact tool is capable of being connected to the chuck (150) through a chuck shaft (158). The chuck shaft (tool holder shaft) (158) is connected to a linear actuator (159), which in the present exemplary case is a solenoid member. The linear actuator is connected to a force sensor (161). A movable impact shaft (160) is connected to the force sensor (161) and is arranged movably inside the impact member housing (162). The linear actuator applies force to the movable impact shaft (160) through the force sensor (161). The applied force on the movable impact shaft (160) results in the linear movement and the impact of the movable impact shaft (160) on the obstacle. The hardness and softness of the obstacle is measured based on the bounce back force acting on the force sensor (161), subsequent to the impact on the obstacle, which in turn is used to determine the hardness and softness of the obstacle.

[080] The neck 146 as illustrated in FIGs.6(a-d) includes a water-sealed corrosion-resistant neck housing (163), with a front movable shaft (164a) and a rear movable shaft (164b), which are connected by a belt (165), which is preferably a timing belt, to a neck motor (166). Openings (167) with wire stiffeners are arranged on the neck housing (163), to permit the passage of data and electrical cables from the neck member (146) to the head member (145).

[081] The front movable shaft (164a) of the neck member 146 is movably connected to the shaft holders (155) and rear movable shaft member (164b) are connected to the neck shaft connector (163) of the body member, so as to establish an integral and reciprocal movement of the neck and head members.

[082] The drive from the neck motor (166) is transmitted to the front and rear movable shafts (164a, 164b), through an arrangement of gears (168, 169) (worm screw and worm gear), pulley (170), tension rollers (171) along with a tensioner bearing (172). The movement of the front and rear movable shafts (164a, 164b), actuate the movement of the neck member 146 in upward and downward directions. Keys (173) are connected to the front and rear movable shafts (164a, 164b). The tension rollers (171) are connected to the belt (165) to impart a desired tension to the belt (165). In this exemplary arrangement, the combination of the gear, the timing belt and the keys, facilitate the arresting of the movement of the front and rear movable shafts (164a, 164b), resulting in the upward and downward movements of the neck member. The upward and downward movements of the neck member impart reciprocal movements to the obstacle remover. It is also within purview of the present invention, to use a suitable joint arrangement, such as universal joint or a combination of joints, to impart a360 degree movement to the neck member (146). It is also within purview of the invention to have a telescoping neck member.

[083] Now, referring to FIG.7 the exemplary constructional embodiments of the body member (147) of the obstacle remover are described. The body member (147) is advantageously an elongated water-sealed corrosion-resistant structure having a housing (148) fitted with rotatable members (174) (wheels) through drive shafts (175), which are driven by drive motors (176), so that each of the rotatable members (121) are individually driven. The tail anchor (135) is provided at the terminal end of the body member (147). The body member (147) is movably connected to the neck member (146) through the rear movable shafts (164a) of the neck member (146). A power bank (177) is arranged on the body member (147), which can be connected to electrical power source. An anchor platform (178) is mounted on the body member along with anchor sockets (179a) and (179b). A linear actuator (180) (a lead screw) is connected to the anchor sockets (179a) and (179b) and to a stepper motor (181). A movable anchor links (182) with end links (183a, 183b) are connected to a linear actuator (180) through pin (184) and body link pins (185a, 185b, 186). The linear actuator (180) is connected to a stepper motor (181) through bearing (187), an oil seal (188) and a nut (189). A movable support plate (190) is connected to the anchor links (182). Side shafts (191a, 191b) are disposed in parallel to the linear actuator (180) and connected to a double joint (192) through a double joint pin (193). The terminal ends of the anchor links (182) are connected to the double joint (192). The support plate (190) provides a abutting support by contacting the walls of the drainage channels during the course of obstacle removal and to prevent the vibration of the body member. A micro controller or a PCB (194) is arranged on the body member, with a WiFi integration, which is configured to control the operations of the various components of the head, neck and body members. Alternately the body member is also adapted to perform the role of the neck member. In this arrangement the head member is mounted on the surface of the body member. The head member is disposed to be released from the body member for obstacle removal and retrieved to the body member for its parking. The body member is equipped with suitable mobility means, to travel along the variable pathways, such as curved or straight pathways of the drainage channels. The mobility means can also be suitably adapted to incorporate gliding, climbing or floatation devices, so as to effect the motion of the obstacle remover on different types of surfaces of the drainage channels and if required to float or pass through submerged media of the drainage channels.

[084] The obstacle identifier and remover is equipped with adequate water sealing to also operate in submerged conditions under heavy pressure. The body member is made of anticorrosive materials to withstand corrosive exposure and remain operational. [085] Optionally, a switch assembly (136) is connected to actuators such as motors and is arranged on the holder (129) and connected to the operating cables (125, 127) and spool operating cable, 133, to operate the movable inspector (101) and the movable identifier and obstacle remover (102). In case the switch assembly (136) is incorporated, a required power source (137) is also connected to the switch assembly (136) to supply the requisite electrical energy.

[086] The exemplary embodiments of the system of the present invention are now described by referring to FIG.8. The obstacle inspector and the obstacle identifier and remover are connected to a high gain antenna, a router and an I/O device such as smart phone or any digital processing device, using desired wireless and networking protocols, including Bluetooth and satellite technologies, to enable remote operations of the system.

[087] For instance, the obstacle inspector identifies the nature of obstacle and transmits the information/signal to the end user and the end user based on the inputs activates the obstacle identifier and remover, from a remote location, by equipping the obstacle remover with suitable removal/clearing heads/tools (a combination of rotary, reciprocating, impact or non-impact tools) to remove the obstacle. The system can also imparted AI capabilities for autonomous navigation assisted with smart/intelligent inspection, identification and removal of obstacles. The system of the present invention can also be voice- operated.

[088] The functional aspects of the device of the present invention, are now described. [089] The system of the present invention is portable (cyber physical) mobile-integrated inspection, maintenance (service), identification and obstacle removal system, which is self-powered and operated by means of a wireless radio communication. The radio communication may be a Wi-Fi, mobile, satellite and/or Bluetooth.

Proprietary communication may also be developed to ensure increased reliability and reliable operation in difficult-to-reach areas.

[090] The system aims to provide an affordable technology solution for inspection, identification and obstacle removal in manually hard-to-reach, hazardous, unsafe and undignified situations such as inside building debris, manholes, sewer lines, storm water drains, boilers, hazardous industrial installations, where the main requirement is to provide feedback on the environmental safety, remote visual inspection and clearing of any obstacles that hinder the operation and functioning of the system.

[091] The system also aims to be portable to make it accessible in hard-to-reach congested areas.

[092] The system comprises the holder, a movable inspector and the movable obstacle identifier and remover, which are integrated via a common I/O device communicating wirelessly by means of Wi-Fi, mobile, satellite and/or Bluetooth.

[093] The entire system is monitored remotely by multiple users. The entire system is self-powered by means of a high-density battery pack which can be charged by means of grid power and/or portable solar panels.

[094] The functional aspect of the system are now described. The Information on the possibility of an obstacle in an operational system such as a sewer line or an accident causing building debris. An operator arrives at the location requiring inspection and/or removal of obstacle. On arrival at the location, the operator activates the system, firstly the primary digital communicating device such as a mobile phone or laptop computer. A central (dedicated) communication router may be used to ensure fail-safe communication. Upon activating the digital communicating device and the main communication router, the movable inspector is switched on and communication established with the main router and digital communicating device.

[095] The movable inspector, connected to the holder, is then deployed in the area requiring inspection. The movable inspector is equipped with visual and night-vision binocular camera for improved depth perception, sonar sensors for a 3D profiling of the work environment, sensors for measuring temperature, acidity and toxicity. The movable inspector provides a preliminary inspection and assessment of the work environment to guide the deployment of the movable obstacle identifier and remover.

[096] Following the preliminary inspection by the movable inspector, the movable obstacle identifier and remover is activated and communication established with the digital communication device and the communication router. It is then disengaged and deployed from the holder into the work environment. A tether is attached to the rear of the movable obstacle identifier and remover is held by the user/operator for retrieval in case of emergency and/or on completion of the job. The movable identifier and obstacle remover comprises a body, a neck and head. The body comprises the main electronic controls, sensors, battery pack, actuators to drive the wheels and support the neck. The neck comprises a mechanism to raise and swivel the head at various orientations, and mainly carries the communication cables to control the head. The head comprises the cameras, the tool holder, which permits that integration of obstacle identification and removal tools. The entire system is weather sealed for operation in submersible conditions and adopts materials that are corrosion, heat and freeze resistant.

[097] The movable obstacle identifier and remover is equipped with visual and night vision binocular cameras, sensors for temperature and toxicity, besides an obstacle identifier tool attached at the head of the device. A proprietary tool for identifying the nature of obstacle is first attached to the tool holder. The movable obstacle identifier and remover is then navigated to the obstacle where the neck is actuated to the required position to access the obstacle. A visual feed and sensory feedback is provided to the digital communication device to permit navigation and control of the neck, head and tool holder. Once the obstacle is reached, the proprietary tool equipped with a linear actuator tests the obstacle for its characteristics. Visual and impulse information transmitted to the digital communication device helps in detecting the nature of the obstacle and the appropriate tool for obstacle clearing. Once the obstacle is surveyed, the head and neck are lowered, and the movable obstacle identifier and remover is retracted. The proprietary tool is removed and replaced with a suitable tool for clearing/removal of the obstacle. The movable inspector and movable obstacle identifier and remover is disengaged and redeployed from the holder, to navigate to the obstacle. The neck and head are appropriately actuated based on visual and sensory feedback to the digital communication device and the user/operator. The obstacle removal tool is actuated to remove/clear the obstacle, following which the head and neck and lowered and the obstacle remover retracted. The movable obstacle identifier and remover is retrieved by means of the tether by the user/operator.

[098] Communication on the status of the obstacle is logged in the digital communication device along with GPS location, time and user/operator details. Once the movable obstacle identifier and removeris retrieved, a self-cleaning mechanism is actuated along with a spray of water by the user. The communication router, the audio-visual digital communication device, the movable inspector and movable obstacle identifier and remover are switched off and packed up for portability to the next job. Once the device is cleaned it is placed in the bag for portability to the next jog. The System operation is completely wireless with the device equipped with self-cleaning feature. The movable inspector with an adjustable support performs inspection of the manhole and connected sewer lines using multiple sensors undertaking a quick view of the particular manhole/sewer line. The movable obstacle identifier and remover inspects and performs de-clogging operations from 225 mm diameter sewer pipes (laterals), which require frequent cleaning, to larger pipes in the sewer system. Inspection processes include visuals (standard and Infrared), pH sensing, Temperature sensing, Gas sensing and a material testing probe, which identifies the material property (soft/hard) to determine the de-clogging capability of the device (hard and dense clogs will be outsourced to larger jetting machines). Variable operating height of the device/tool is aided by an articulated 'neck' which supports the de-clogging 'head'. The 'head' contains a multi-tool 'chuck' for installing suitable 'cleaning heads' for de-clogging. The movable obstacle identifier and remover is housed in a carry-case equipped with PV panels to provide 'on-the-go' charging to the operational unit. [099] The salient features of the movable inspector of the device of the invention enable functions such as switching the movable inspector 'On' will start transmitting visual data onto a smart phone application. Whereas, insertion and direction of the movable inspector into the location is performed with the help of the attached holder. Actuation of the operating members, such as levers enables the adjustment of the tilt and insertion depth of the movable inspector into the location. A user is enabled to analyze the data transmitted by the movable inspector to through an I/O device.

[0100] The movable obstacle identifier and remover of the device of the present invention performs the obstacle inspection and removal. The movable obstacle identifier and remover Robot is provided with an impact tester that attaches to the head and inserted into the manhole towards the sewer line to inspect the relative hardness of the obstacle material. If the obstacle is relatively soft for the Robot cleaning head, the corresponding interchangeable cleaning heads can be utilized for carrying out de-clogging operations by taking the movable obstacle identifier and remover out and attaching the cleaning head to the Head. If the obstacle is relatively soft or there are severe conditions that are beyond the capabilities of the movable obstacle identifier and remover, then the use can recommend employing a larger machine for the job. The movable obstacle identifier and remover is put inside the location and then is remotely operated by using the smartphone. The maneuvering is done using a 4 wheel drive system with a DC motor on each wheel. The adjustment of cleaning/inspection height is adjusted using a neck mechanism to increase the reach inside the sewer line. An Arm is used as a jack to hold the movable obstacle identifier and remover t in place while performing the inspection/cleaning operation. The de-clogging head rotates in variable inputs to ensure controlled cleaning process. After the de-clogging is done, the Robot is pulled out using tethered ropes out of the location. The movable obstacle identifier and remover has a self-cleaning function utilizing a vibration actuator inside the body to remove loose foreign materials off its surface.

[0101] An end user can be equipped with the device of the present invention to reach the location of the site of the obstacle, based on the information received, which can include geo-tagged images or photographs of the location taken from the end-users mobile phone. The end user who is in possession of the device of the present invention (obstacle inspection, identifier and remover) and a smart phone reaches the location and releases the obstacle identifier from the vertical holder and into the drainage channel to view the images of the obstacle on the smart phone, which is captured by the obstacle identifier. In addition, the end users, utility maintenance and service providers are also provided with data and information on the nature of the obstacle as captured based on the input signals from the of the obstacle identifier. The captured data include pH, temperature and gas constituents of the channel/drain, the exact location, nature and type of the obstacle, and the type of clog removal head/tool deployed. Once the nature of the obstacle is identified, the obstacle remover, with an appropriate removal tool is released from the vertical holder remotely to the site of the obstacle and the removal tool is actuated to remove the obstacle. Prior to the removal of the obstacle remover, the support plate of the device is abutted to inner upper surface of the drainage channel prevent the vibration of the device during the course of obstacle removal. In this operation, the levers and pulleys of the vertical holder are used to adjust the tilt and insertion depth of the object identifier in the drainage channel. The obstacle remover is also equipped with an obstacle testing probe that is removably attached to the head member of the device to inspect the relative hardness of the obstacle. In case, the obstacle is relatively soft, a suitable cleaning head (obstacle removal tool) is used for the obstacle remover. The obstacle remover can be manoeuvred and remotely controlled by the end user. The obstacle remover can also be operated at variable speeds to facilitate the removal of the obstacles. Once the removal of the obstacle is performed, the obstacle remover is retrieved from the drainage channel by a tether, which is connected to the device or through remote means. The obstacle remover is also provided with self-cleaning features, such as a vibrator or oscillator to remove the debris from its surface.

[0102] FIGs.9(a) & (b) illustrates a case study where a sewer line having an obstacle is used to its removal, where the obstacle inspector and the obstacle identifier and remover are used in conjuntion to remove the obstacle and provide a feed back to the user.

[0103] FIGs.10(a) & (b) illustrates a case study where a sewer line having an obstacle is used to its removal, where only the obstacle identifier and remover are used in conjunction, to remove the obstacle and provide a feed back to the user.

[0104] Accordingly, the present invention provides portable and self-powered device, for identification and removal of obstacles from a location device (100) for identification and removal of obstacles from a location, comprising : the holder (129) with proximal and distal ends, including first and second operating members (124, 132) and the spool (126), which are connected to respective first and second operating cables (125, 133) and to a spool operating cable (127). The bracket (103) with inner movable frame (105) and the peg (128) is disposed at one end of the holder (129), the peg (128) is connected to the spool

(126), through the spool operating cable (127). The movable inspector

(101) that is configured to move vertically and horizontally, is connected to the inner movable frame (105) and to the first operating member (124) through the first operating cable (125). The movable obstacle identifier and remover (102) with the tether (134), is mounted on the deployment platform (130) of the hollow holder (129). The quick release lever (131) of the holder (129) is connected to the movable obstacle identifier and remover (102)and to the second operating member (132), through the second operating cable (133) and is configured to detach the movable obstacle identifier and remover (102), from the deployment platform (130).

[0105] In an aspect of the present invention device is provided with a switch assembly (136) that is connected to the switch power source (137) is disposed on the holder (107) and configured to operate the first and second operating cables (125, 133) and the spool operating cable

(127).

[0106] In yet another aspect of the present invention, device includes, the holder (139) with proximal and distal ends, including the obstacle remover operating member (140a), which is connected to the quick release cable (141). The movable obstacle identifier and remover

(102) is provided with a tether (134) and is mounted on the deployment platform (130) of the hollow holder (129). The quick release lever (131) of the holder (139) is connected to the movable obstacle identifier and remover (102) and to obstacle remover operating member (140a), through the quick release cable (141) and is configured to detach the movable obstacle identifier and remover (102), from the deployment platform (130).

[0107] In yet another aspect of the present invention, the device is provided with the switch assembly (140b) that is connected to the switch power source (137) and disposed on the holder (139) is configured to operate the quick release cable (141) and to detach the movable obstacle identifier and remover (102), from the deployment platform (130).

[0108] In a further aspect of the present invention, the device (100) is provided with the movable inspector (101), which includes, the optically transparent lid (110) with the lid frame (110a) and the cleaning element (116). The optically transparent lid (110) is disposed on one end of the housing (107) and the end cap (108) is disposed on the other end of the housing (107). The slider ring (112) with guide rails (114) is mounted on the housing (107) and the guide rails (114) with tensioners (115) are connected to the inner movable frame (105). The camera (118) with IR emitters (119) that are mounted on the camera mount (120) is disposed in the housing (107). The plurality of sensors (117) are disposed on the lid frame (110a) of the optically transparent lid (110). The plurality of probes (122) are disposed in the housing (107) and are exposed through slotted windows (111). The inspector controller (121) with the inspector switch (142) that is operably connected to the inspector power source (123), the camera (118), the IR emitters (119), the probes (122) and the sensors (117), is disposed in the housing (107).

[0109] In yet another aspect of the present invention, the device (100) is provided with the movable obstacle identifier and remover (102), which includes the movable head (145) with the screen (151), the head camera (152a) with IR emitters (152b) and the proximity sensors (153). The movable neck (146) is connected to the movable head (145). a movable body (147) with body movers (174) and an immobilizer assembly (178) is connected to the movable neck (146). The tail anchor (135) is connected to the body (147) and to the quick release lever (131). The plurality of sensors (196) and the remover switch (143) are disposed in the slotted casing (195) of the body (147). The obstacle removing controller (194) is disposed in the body (147) and operably connected to the power source (177), the movable head (145), the movable neck (146), body movers (174), immobilizer assembly (178), the head camera (152a), the IR emitters (152b) and the proximity sensors (153).

[0110] In yet another aspect of the present invention, the device (100) is provided with a movable head (205), which is fused to the movable body (147) through the connector block (200).

[0111] In a further aspect of the present invention, the device is provided with the head (145) that includes thea tool holder support (149) and the tool holder (150).

[0112] In yet another aspect of the present invention, the device includes the movable impact member (144), which is connected to the tool holder (150).

[0113] It is also an aspect of the present invention, where the device is provided with the movable impact member (144), which includes, the tool holder shaft (158), the linear actuator (159) that is connected to the tool holder shaft (158) and the linear actuator (159) is connected to an impact shaft (160) through a force sensor (161). The tool holder shaft (158), the linear actuator (159), the impact shaft (160) and the force sensor (161) are disposed in the impact member housing (162). The force sensor is operably connected to the remover controller (194).

[0114] In yet another aspect of the present invention, the device is provided with the immobilizer assembly (178), which includes the movable anchor plate (190) is connected to the plurality of movable links (182, 183a) and actuated by the link base (192) that is mounted on guide rails (191a, 191b) and the stepper motor (181) is connected to the link base (192) through a stepper linear actuator (180).

[0115] In yet another aspect of the present invention, the portable and self-powered system, for identification and removal of obstacles from a location system for identification and removal of obstacles from a location, comprises, the holder (129) with proximal and distal ends, including first and second operating members (124, 132) and the spool (126), which are connected to the respective first and second operating cables (125, 133) and to the spool operating cable (127). The bracket (103) with the inner movable frame (105) and the peg (128) is disposed at one end of the holder (129), the peg (128) is connected to the spool (126), through the spool operating cable (127). The movable inspector (101) that is configured to move vertically and horizontally, is connected to the inner movable frame (105) and to the first operating member (124) through the first operating cable (125). The movable obstacle identifier and remover (102) with the tether (134), is mounted on the deployment platform (130) of the hollow holder (129). The quick release lever (131) of the holder (129) is connected to the movable obstacle identifier and remover (102) and to the second operating member (132), through the second operating cable (133) and is configured to detach the movable obstacle identifier and remover (102), from the deployment platform (130). The I/O device with a display unit (203) is operably connected to the movable inspector (101) and to the movable obstacle identifier and remover (102), through the inspector controller (121), the obstacle removing controller (194) and the wireless router(204). The inspector controller (121) is configured to inspect the obstacle at a desired location and to send visual feedback to the I/O device. The obstacle removing controller (194) is configured to deploy the movable obstacle identifier and remover (102) from the deployment platform to the obstacle location, remove the obstacle and to provide a visual feedback and the tether (134) is disposed to retrieve the movable obstacle identifier and remover (102) from the obstacle location.

[0116] In a further aspect of the present invention the system is provided with the I/O device (203) and the wireless router (204) that are preferably portable digital devices.