Proposal of a Sewerage Cleaning Robot to Collect Garbage Applying for Ho Chi Minh City

This paper proposes the design of an in-pipe robot called Sewer’s Garbage Collecting Robot (SGCR) for replacing human labor in the hazardous and harmful environment inside the sewer pipe. The paper suggests the idea of combining a mobile robot with others equipment for collecting garbage inside sewer pipe, then pouring them to a basket arranged inside the manhole for bringing onto the ground. Some concepts are used to realize the robot: Isolating motors from sewerage environment, using curving surface of sewer pipe as the contact area for improving tractive effort, developing low inertia manipulator for improving efficiency, developing garbage collecting system with active change shape ability for adapting to the environment. Based on the idea and the basic concepts, the structure of SGCR is proposed. Then, the robot’s operation is illustrated in simulation.