NOTY : Cleaning Robot for Small Sewage Pipeline

What it does

The purpose of this product is to clean a small sewage system 3–4 m underground in small Korean cities, pushing through and removing sediment. It helps prevent flood damage and improves working conditions for sewage system cleaners.

Your inspiration

My grandmother, who lives in a small city in Korea, always suffers from flooding damage during the rainy season, so I naturally became aware of the cause of flooding damage after investigating the cause. Therefore, this project was designed to prevent flooding damage in small cities, and recognized that there was a problem with the cleaning method of sewage pipes during the investigation, and it was carried out with two purposes: prevention of flooding damage and improvement of the working environment of sewage pipe cleaning workers.

How it works

Flexible Rotate Helper System Utilizes ball joints between modules, enabling stable movement through narrow and curved sewer pipe sections. Powerful Drill Head Equipped with a high-speed rotating drill at the front, effectively penetrating and removing sediment and blockages. Push & Go System It is a system that pushes the front part with a linear actuator and pushes forward again, pushes forward, and repeatedly pushes forward to push the sediment of a small sewage pipe of 3-4m with strong force. Autonomous Driving System Internal sensors and autonomous navigation algorithms allow the robot to independently detect, navigate, and perform cleaning tasks without human intervention. Ergonomic Handle Design An ergonomically designed handle allows operators to easily and safely insert and retrieve the robot from sewer pipelines. Modular Structure Its modular design enables easy assembly and disassembly, facilitating maintenance and efficient management.

Design process

Problem Awareness and Conceptualization This project began with the issue of frequent flooding in small towns during heavy rains. The root cause was identified as sewage pipe clogging due to poor maintenance, highlighting the need for an autonomous cleaning robot. User and Environmental Research We analyzed sewer structures, dredging worker environments, and current cleaning methods. Interviews and research revealed sediment type and safe task replacement as key requirements. Design and Structural Planning We developed a flexible joint (Rotate Helper) for curved pipe navigation, a front drill for sediment removal, and an ergonomic handle for easy deployment and retrieval. Prototyping and Testing A prototype was built using 3D printing and Arduino. We tested its performance in a 300mm pipe mock-up, focusing on entry, movement, and drilling. Problem Solving and Improvement Weak drill torque and high resistance in curves were improved with gear motors, refined ball joints, and push and go features with linear actuators. Final Implementation The final prototype integrates all features and completes a full scenario of pipe entry, sediment removal, and exit.

How it is different

Most existing sewage pipe cleaning methods rely on manual labor using high-pressure hoses or dredging trucks, which require significant manpower, pose safety risks, and struggle with cleaning inside narrow, curved pipes. NOTY is a self-driving cleaning robot that navigates through complex sewer geometry and removes deposits. Key innovations include a push & go system, modular Rotate Helper joints, drill-based physical removal, ergonomic handling, and an Arduino-based prototype. Unlike traditional vacuum systems, NOTY follows a three-step process—crushing, pushing, and autonomous return—solving issues of efficiency and curved pipe entry that others cannot. In short, NOTY offers a unique, automated approach to small-town sewage infrastructure management, going beyond conventional cleaning tools.

Future plans

NOTY is currently at a prototype stage with basic mobility, drilling, and linear actuator-based pushing implemented. The next development steps include upgrading autonomous navigation with sensors (IMU, ultrasonic), testing in simulated sewage environments for waterproofing and durability, and optimizing modularity for easy maintenance. Plans also include switching to a battery-powered system for wireless operation and reinforcing the body with lightweight, shock-resistant materials to prepare for real-field deployment.

Awards