FIELD OF THE INVENTION

[001] Embodiments of the present invention, generally relate to a robotic arm, and in particular relate to a robotic arm for cleaning of any systems in cities and towns, and eliminating manual scavenging.

BACKGROUND

[002] Manual scavenging is responsible for hundreds of deaths every year. Many young people, who are often employed to clean septic tanks in cities of developing countries, die while cleaning it. It is a harsh reality that the inhuman practice still exists in many developing countries, as most septic tanks are emptied manually in developing country cities. Further, lack of proper safeguards puts manual scavengers at risk of infections, which are occasionally fatal as well. Statistics show that 80% of sewage cleaners die before they turn 60, after contracting various infectious diseases.

[003] Further, manual scavenging has been even outlawed in many countries. Employing people to this profession carries possible imprisonment penalties and fine. Still, demand for scavengers remains high in underdeveloped and developing countries due to lack of alternatives. Further, though legally required, but protective gear like gloves, gas masks and boots are often not provided by employers, in violation of the law, leading to diseases and even death. Furthermore, there is no proper accountability system in place.

[004] Further, it is the duty of local authorities and other govt, agencies to use modern technology for cleaning of sewers. Some local authorities use robotic arms also. However, conventional robotic arms suffer from many disadvantages. First, their usage is limited to a single action only, and they cannot perform multiple actions that are often required in proper sewage cleaning.

[005] Further, conventional robotic arms are designed to be used only for sewage applications. Hence, they cannot be adapted for other applications like nuclear material handling and underwater applications. Thus, there is still lack of sophisticated robots and modern technology that can be used across industries.

[006] Therefore, there is a need for an improved robotic arm and technology that can solve abovementioned challenges associated with traditional solutions, can facilitate eliminating manual scavenging from developing countries and underdeveloped countries, and can provide multiple applications of the robotic arm in different industries.

SUMMARY

[007] According to an aspect of the present disclosure, a robotic arm for sewage application is provided herein. The robotic arm includes an actuation assembly configured for moving the robotic arm and an end effector connected to the robotic arm in a plurality of directions for accomplishing at least one task. The robotic arm further includes a data capturing means coupled to the arm for capturing data to be processed by a processor connected to a controller of the robotic arm wherein the controller is encoded with instructions enabling the controller to operate the robotic arm depending on the task to be accomplished and the captured data. The robotic arm further includes a rotating means configured to rotate the robotic arm for accomplishing the tasks. The end effector includes a first portion and a second portion operating in conjunction to each other depending on the task to be accomplished.

[008] According to another aspect of the present disclosure, a control system for operating a robotic arm is provided herein. The system includes a robotic arm having an actuation assembly, at least one data capturing means coupled to the arm, a rotating means configured to rotate the robotic arm and an end-effector; and a controller encoded with instructions enabling the controller to accomplish at least one task depending on at least one input data received from the data capturing device wherein the controller is configured to actuate the arm and the end effector for reconfiguring positions of a first and a second portion of the end-effector depending on the task to be accomplished.

[009] According to another aspect of the present disclosure, a control method for operating a robotic arm for sewage application is provided herein. The control method includes in response to initiating of a task on receipt of a signal from a controller, processing at least one data input captured by a data capturing means wherein the data input is associated with accomplishing the task. The control method further includes actuating an actuator assembly of the robotic arm depending up on the task and the parameter wherein the assembly is connected to an end-effector. The control method further includes triggering a movement of a first portion and a second portion of the end-effector in response to actuation of the actuator assembly for accomplishing the task.

[0010] According to another aspect of the present disclosure, a device for sewage application is provided herein. The device includes an actuation assembly configured for moving the device and an end effector connected to the device in a plurality of directions for accomplishing at least one task. The device further includes a processor configured for processing a data related to the at least one task, a controller coupled to the processor of the device wherein the controller is encoded with instructions enabling the controller to operate the device depending on the task to be accomplished and the processed data. The device further includes a rotating means configured to rotate the device for accomplishing the tasks, wherein the end effector includes a first portion and a second portion operating in conjunction to each other depending on the task to be accomplished. [0011] The preceding is a simplified summary to provide an understanding of some aspects of embodiments of the present invention. This summary is neither an extensive nor exhaustive overview of the present invention and its various embodiments. The summary presents selected concepts of the embodiments of the present invention in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other embodiments of the present invention are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and still further features and advantages of embodiments of the present invention will become apparent upon consideration of the following detailed description of embodiments thereof, especially when taken in conjunction with the accompanying drawings, and wherein:

[0013] FIG. 1 illustrates a schematic diagram of a front view of a robotic arm, according to an embodiment of the present invention;

[0014] FIG. 2 illustrates a schematic diagram of a right side view of the robotic arm, according to an embodiment of the present invention;

[0015] FIG. 3 illustrates a schematic diagram of a top view of the robotic arm, according to an embodiment of the present invention; and

[0016] FIG. 4 illustrates a schematic diagram of an isometric view of the robotic arm, according to an embodiment of the present invention.

[0017] To facilitate understanding, like reference numerals have been used, where possible, to designate like elements common to the figures.

DETAILED DESCRIPTION [0018] As used throughout this application, the word "may" is used in a permissive sense (i.e., meaning having the potential to), rather than the mandatory sense (i.e., meaning must). Similarly, the words “include”, “including”, and “includes” mean including but not limited to.

[0019] The phrases “at least one”, “one or more”, and “and/or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together.

[0020] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0021] The term “automatic” and variations thereof, as used herein, refers to any process or operation done without material human input when the process or operation is performed. However, a process or operation can be automatic, even though performance of the process or operation uses material or immaterial human input, if the input is received before performance of the process or operation. Human input is deemed to be material if such input influences how the process or operation will be performed. Human input that consents to the performance of the process or operation is not deemed to be “material”.

[0022] FIG. 1 illustrates a schematic representation of a control system (100) that includes a robotic arm (102). In an embodiment, the robotic arm (102) is a semiautomated multi-functional robotic arm that can be attached to a machine (not shown in figure) for sewer inspection and cleaning purpose. The robotic arm (102) of the machine is configured to facilitate positioning the pressurized waterjet in an accurate manner for waterjet cleaning.

[0023] In an embodiment, the robotic arm (102) is fixed on an arm shoulder (106) that can rotate around a horizontal axis, as shown in FIG. 1. The robotic arm (102) further includes an arm up actuator back end fixture (104) and a shoulder backend (105). The robotic arm (102) further includes a first shoulder (107) and a second shoulder (108) for arm link, and a sliding actuator cover (109), as shown in FIG. 1. The robotic arm (102) further includes a sliding actuator rod 111, a sliding actuator connector 112, an end effector connector 113, an end effector lid 114, and an end effector end adjuster unit 121, as shown in FIG. 1.

[0024] In an embodiment of the present disclosure, the robotic arm (102) includes an arm up actuation assembly (116) and an arm up actuator cover 115, as shown in FIG. 1. The actuation assembly 116 includes an arm up actuator front rod and an arm up actuator rod. In an embodiment, the actuation assembly (116) is configured to move the robotic arm (102) and an end effector (134) (shown in FIG. 2) connected to the robotic arm (102) in a plurality of directions for accomplishing predetermined tasks. According to an embodiment of the present invention, the predetermined tasks include shoveling, picking, and cleaning of sewers or any other thing that require such tasks or actions.

[0025] In an embodiment, as shown in FIG. 1, the actuation assembly (116) further includes an arm up actuator rod (117) that is connected to the robotic arm (102) via an arm up actuator rod end connector (118). The arm up actuator rod (117) is configured for controlling movement of the robotic arm (102). The arm up actuator rod (117) is configured to actuate the robotic arm (102) to move in a first or a second direction. In an embodiment, the arm up actuator rod (117) is configured to move up and move down the robotic arm (102) for achieving shoveling action described in Fig. 4. The robotic arm (102) further includes a slider actuator main body (120) for actuating the end- effector (134). The robotic arm (102) further includes an end effector actuator (119). In an embodiment, the end effector actuator (119) is configured for extending a reach of the end-effector (134) to accomplish the task.

[0026] Further, as shown in FIG. 2, the robotic arm (102) further includes an end effector end pivot fixture (132) and end effector adjuster bushes (133). Further, the robotic arm (102) includes an end effector actuator rod (136) and end effector actuator rod connector (136A). Further, the robotic arm (102) includes a slider unit base support (137) and slider actuator guard (139). Further, the robotic arm (102) includes a wire guiding fixtures (141) and (143) for the end effector (134) actuation. Further, the robotic arm (102) includes an end effector actuator outer cylinder (144) and end effector pivot assembly (148).

[0027] Further, the end effector (134) is configured to hold a pressurized water jetting hose for cleaning purpose. In an embodiment, the end effector (134) includes a first portion and a second portion operating in conjunction to each other, depending on the task to be accomplished (for example, shoveling, picking, and cleaning). In an embodiment, the end effector (134) is actuated by the end effector actuator (119).

[0028] According to an embodiment of the present invention, the end effector (134) is configured to open by moving the first and second portions in opposite directions, as shown in FIG. 2. Further, a front face of each of the first and second portion of the end effector (134) includes a provision (such as curve) on inside of each of the portions, as shown in Fig. 2, such that an opening is created for provisioning a jet hose wherein the jet hose is configured for the cleaning task.

[0029] In an embodiment, the end effector (134) is configured to work using the end effector actuators (119), one for each side. In an embodiment, the end effector (134) a single assembly that is designed to do a plurality of operations using its actuators. The end effector (134) is configured to open to a wide angle about the end effector pivot (151) at both ends using the actuators which acts through the end effector wing, as shown in Fig. 2. Further, the sides and the angle are configured to maximize the picking and shovelling efficiency of the robotic arm (102).

[0030] As shown in FIG. 3, the robotic arm (102) further includes an end effector pivot bottom fixture 181. The robotic arm (102) further includes an arm rotation pivot (182), an arm up down actuator back pivot (183), a wire guiding fixture (186), and a bottom wire guide (186 A) for slider. The robotic arm (102) further includes a sliding cylinder back cover (185), and a shoulder pivot (187) for the arm link, as shown in FIG. 3.

[0031] The robotic arm (102) further includes a self-tensioning means for each of the first and the second portion that are configured to make the shoveling task action more efficient. In an embodiment, the self-tensioning means is a self-tensioning mechanism that uses torsion springs. The provisions (or curve), shown in FIG. 2 and FIG. 3, in the shovel front face are configured to hold water jetting hose, which can be customized to different hose sizes. The robotic arm (102) further includes an accelerometer or gyroscope to balance and create stability for the robotic arm (102) during operation.

[0032] In an embodiment, the control system (100) further includes a controller (not shown in figure) encoded with instructions enabling the controller to accomplish predetermined tasks, depending on input data received from a data capturing device. The control system (100) includes a processor and a memory that stores various modules for performing various predetermined tasks. In an embodiment, modules stored in memory enables an operator of the control system and robotic arm to choose a task from a list of predetermined tasks that he/she wants from the robotic arm to perform. The controller is configured to actuate the robotic arm (102) and the end effector (134) for reconfiguring positions of a first and a second portion of the endeffector depending on the task to be accomplished. In an embodiment, the input data is data relating to a parameter associated with an entity to be collected wherein the parameter includes position, distance, dimension, quantity and volume of the entity. [0033] The robotic arm (102) further includes a data capturing means (for example, data capturing device). The data capturing means is configured to couple to the robotic arm (102) for capturing data that is required to be processed by a processor connected to the controller of the robotic arm (102). The controller is encoded with instructions that enable the controller to operate the robotic arm (102) depending on the task to be accomplished and the captured data.

[0034] Further, in an embodiment, the data capturing means includes a sensor that is configured to sense a parameter associated with an entity to be collected during the picking task. For example, during cleaning of sewerage, parameter may be various blockages inside the sewer line. In another example, parameter may be distance of the particle that is required to be picked up or collected. In another embodiment, the data capturing means is an image capturing device. In another embodiment, the data capturing means is video capturing device. In yet another embodiment, the data capturing means may be any combination of sensor, image capturing device, or video capturing device.

[0035] The robotic arm (102) further includes a rotating means configured to rotate the robotic arm (102) for accomplishing the tasks. In an embodiment, the rotating means are configured to rotate the robotic arm about the arm rotation pivot (182). Further, the rotating means may be electric, mechanical, pneumatics, and hydraulics rotating means. In an embodiment, the rotating means are configured to make it easy for operator to clean the areas in the manhole that are hard to reach. The robotic arm (102) further includes a limit switch configured to collect a feed-back from each point on the robotic arm (102) for ensuring enhanced working atmosphere without any damages to the robotic arm (102). The robotic arm (102) further includes an end effector actuator back fixture (190), as shown in FIG. 4.

[0036] According to an embodiment of the present invention, during operation, data input captured by a data capturing means (for example, sensor) is processed by the controller, based upon response to initiating of a predetermined task on receipt of a signal from a controller. The data input is associated with accomplishing a predetermined task (for example, shoveling, cleaning or picking). In an embodiment, the input data is data relating to a parameter associated with an entity to be collected during the picking task, wherein the parameter includes, but not limited to, position, distance, dimension, quantity and volume of the entity.

[0037] In some embodiments, the sensor device may include but not limited to inertial measurement unit (IMU) sensor, sonar sensor, pressure sensor, load cell sensor, position sensor or the like sensors which are capable of sensing a parameter associated with an entity to be collected during the picking task.

[0038] Further, the arm up actuator assembly (116) of the robotic arm (102) is actuated depending on the task required to be performed, and the parameter wherein the arm up actuator assembly (116) is connected to the end-effector (134) via various actuators. Further, a movement of a first portion and a second portion of the end-effector (134) is triggered in response to actuation of the end effector actuator (119) for accomplishing the predetermined task.

[0039] In an embodiment, the end effector (134), actuated by the end effector actuator (119), is configured to open by moving the first portion and the second portion in opposite directions, as shown in FIG. 2, 3, and 4. Further, a front face of each of the first and second portion of the end effector (134) includes the provision (for example, curve) on inside of each of the portions such that an opening is created for provisioning a jet hose wherein the jet hose is configured for the cleaning task. In an embodiment, tasks to be accomplished include shoveling, picking and cleaning. Further, the robotic arm (102) is able to swivel at end of shoulder for arm link (107) using the arm up actuator assembly (116) placed below the support. Further, a sliding actuator (110) at top of arm is configured to extend the maximum reach of the robotic arm (102), as shown in FIG. 1. [0040] Further, according to an embodiment of the present invention, the end effector (134) is configured to perform various functions such as picking action (as shown in Fig. 2), water jet positioning action (as shown in Fig. 3), and shovelling action (as shown in Fig. 4). In an embodiment, the picking action, as shown in FIG. 2, is achieved using the end effector actuators (119) placed on both sides of the end-effector (134).

[0041] Further, according to an embodiment of the present invention, the shovelling action, as shown in FIG. 4, is done using simultaneous operation of the sliding actuator (110) and arm up actuator assembly (116). Those skilled in the art will appreciate that the shoveling action provided by the robotic arm (102) advantageously replicates action of human hand collecting waste from manhole.

[0042] The control system (100) and the robotic arm (102) advantageously provide a semi-automated multi-functional robotic arm that can be attached to a machine in sewer inspection and cleaning purpose. The robotic arm (102) can advantageously facilitate eliminating manual scavenging for cleaning and positioning the pressurized waterjet in an accurate manner for waterjet cleaning.

[0043] The robotic arm can advantageously provide grabbing, picking, and positioning the pressurized waterjet. The robotic arm can be used for complete cleaning of sewer system with the semi-automated robotic system for manhole and sewer line cleaning. Further, the operations of arm can be controlled by manually or automatically from a well formulated user interface system arranged in operation cabin situated above manhole.

[0044] Further, the robotic arm can advantageously perform multiple actions such as removing waste/debris in manhole by shoveling in to center of machine. The end effector (134) is configured to hold a pressurized water jetting hose for cleaning of manhole and sewer line. Further, the robotic arm (102) provides easily changing end effectors (134), and thus makes sure that robotic arm (102) can be used for inspection of manhole and sewer line. Further, the robotic arm (102) can also hold rudders for removing blockage from sewer lines.

[0045] Further, the shoveling action provided by the robotic arm (102) advantageously replicates action of human hand collecting waste from manhole. The robotic arm can be operated using pneumatic/hydraulic/electrical actuators. Further, the entire shovel is designed to fold in to body of machine ensuring easy entry to manhole. Further, the robotic arm (102) advantageously provides ability to rotate. Further, the robotic arm (102) can easily extend its reach to a maximum distance if required thus increasing the area that it can be operated.

[0046] Further, the end effector (134) can be easily interchanged according to specific application required for cleaning from the robot. A pressure jet hose holding facility can guide the pressure washer to ensure proper cleaning of manhole/sewer line. The rotation facility of the end effector (134) makes it easy for operator to clean areas in the manhole that are hard to reach. Further, the end effector (134) provides a provision for holding the pressure washer of various sizes.

[0047] Further, the robotic arm (102) can be advantageously used with various end effecters for other specific applications. The effector end can be equipped with an arm camera at its end to capture video footage of arm working and facilitate the inspection of manhole/sewer line, which can be controlled by operator to get a full degree view of the area. Further, a rudder with various end applications for specific blockage removal can also be guided using the arm end by using a suitable end effecter (134).

[0048] Further, the robotic arm (102) advantageously provides a rugged robotic system for cleaning sewerage. The robotic arm (102) is compact by size. In an embodiment, ruggedness of system is ensured by having optimum thickness of materials used, and through vigorous practical tests. Further, the robotic arm (102) advantageously uses minimum number of actuators which reduce overall complexity. Further, the robotic arm (102) advantageously automates various operations like shoveling that requires simultaneous operations of multiple actuators. Further, the robotic arm (102) advantageously can be used to position end effector for picking or waterjet holding.

[0049] Further, the robotic arm (102) can be advantageously used for multiple applications. For example, the robotic arm (102) may be used as inventory handling in nuclear plants, tool holding and manufacturing, assembling, and underwater fabrication. Further, the robotic arm (102) may be used in agricultural industry (harvesting, weeding etc.) and gardening activity like planting, watering etc. Further, the robotic arm (102) may be used in cooking industry for automation of cooking and pendants industry.

[0050] The foregoing discussion of the present invention has been presented for purposes of illustration and description. It is not intended to limit the present invention to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the present invention are grouped together in one or more embodiments, configurations, or aspects for the purpose of streamlining the disclosure. The features of the embodiments, configurations, or aspects may be combined in alternate embodiments, configurations, or aspects other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention the present invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects he in less than all features of a single foregoing disclosed embodiment, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of the present invention.

[0051] Moreover, though the description of the present invention has included description of one or more embodiments, configurations, or aspects and certain variations and modifications, other variations, combinations, and modifications are within the scope of the present invention, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative embodiments, configurations, or aspects to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.