ICIEICE - 2021

Automatic Lake Cleaning Robot Using Iot

Kavitha .P
Head of the department/ECE, [Link] of Engineerings,Siruganur Trichy
Email: kavithamamse@[Link]
[Link], [Link], [Link]
[Link] of Engineerings,Siruganur Trichy
Email: subha288311@[Link],kannusamymalavika@[Link],mohanaece10@[Link]

Abstract—The world is covered by ¾th of water and in our country there were lots of water saving
techniques such as dams, water tanks, lakes, pools, etc... but the important problem of the water
is that it has easily get polluted by solid waste and makes bad odour causes due to the industries,
humans who disposed the solid waste in the stagnant water such as ponds, lake and in the sea.
Due to these water pollution the aquatic animals that living in water may dead and land animals
drink the water gets infected not only for animals ,polluted water causes skin disease to human
being . We have proposed a technique to control the water pollution by using robot. A new
generation of river cleaning robot have been presented in this research. The enhancement
accomplished by the new design & features that makes river cleaning robot with iot technology
more competitive.

Keywords— microcontroller, IOT receiver, DC motor, motor driver etc .

I. INTRODUCTION
The solid waste in water can removed by using this water cleaning robot . This machine is consists of cleaner
mechanism which collect & remove the wastage, garbage& from water bodies. Machine will if the waste surface
debris from the water bodies, this will ultimately result in reduction of water pollution and lastly the aquatic
animal's death others problems can reduce. It consists of Belt drive mechanism which lifts the debris from the
water. The use of this project will made in rivers, ponds, lakes and other water bodies for to clean the surface
water debris from bodies. Similarly they are lots of problems of water pollution under Godavari, Gangai River
which affect the acoustic, human life & beauty of River. The biggest impact of cleaning the chemical wastes can
cause respiratory disease sand it plays a challenging issue for municipality officers Water damage is classified as
three types of contaminated water. They are clean water, gray water and black water clean water is from a broken
water supply line or leaking faucet. If not treated quickly, this water can turn into black water or gray water,
depending on length of time, temperature, and contact with surrounding contaminants. Drainage pipes used for
the disposal of sewage and unfortunately sometimes there will be loss of human life while cleaning the blockages
in the drainage pipes. The municipality workers are only responsible to ensure that the sewage is clean or not
though they clean the ditch the sat the side of buildings, they can’t clean very wide sewage. The municipality
workers need to get down into the sewage slid get to clean the wide sewage. It affects the in health badly and
causes skin allergies.

Grenze ID: 02. ICIEICE.2021.1.4_2

© Grenze Scientific Society, 2021
II. EXISTING METHOD
 Man Power
 Vacuum Cleaner
 Road Runner
Disadvantage of this system is Low efficiency
 Takes more time
 Costly
III. PROPOSED METHOD
To overcome those issues, we have designed and simulated a rubbish collecting system that is expected to further
develop experimentally for the application in the real world. Hence, it will be able to get a wide assortment of
debris, including gliding litter, trash, logs, disposed tires and others. Thus, it is expected to enhance the demand
and need for a design of a river cleaning machine that is able for tidying up waste from rivers, channels and lakes
and overcome the current issues. The integrated system incorporates the usage of IoT technology that has the
ability to monitor and control the entire process.

IV. HARDWARE REQUIREMENTS

 ArduinoUNO.
 L293D Motor Driver or H-Bridge.
 DCMotor.
 IOT MODULE.

V. SOFTWARE REQUIREMENTS
 ArduinoIDE.
 PROTEUS SOFTWARE :The proteus design suite is a proprietary software tool suite used
primarily for electronic design automation .To create schematics and electronics prints for
manufacturing printed circuited boards ,Size 248 Mb

VI. LITERATURE SURVEY :

A. Metallic Scrap Collection Robot with Efficient Trajectory
We have developed an electromagnetic robot that can recognize and collect various metal
scraps spread across an area. The process of recognition is carried out with the help of the image
processing techniques on the images obtained through the camera installed in the area. The
robot collects the scrap using the electromagnetic arm by visiting it. Our aim in this work is to
control the robot's trajectory so that all the scraps identified can be collected within a minimum
time by minimizing the distance travelled by the robot.
Disadvantage
Cannot be used in different locations
B. Development of an autonomous beach cleaning robot
The paper discusses two aspects of the robot: the refuse collection mechanism and the autonomous navigation
system. In order to enable effective collection of refuse from a sandy surface, we developed a mechanism that
mimics cleaning of a floor using a broom and dustpan. To identify its own position, the robot was equipped with
a scanning range finder, which measured the position of two poles placed at the corners of the designated work
area
Disadvantages
works only on water surface cannot be multiuse .

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C. Mechanism that collected items as if humans clean a floor with a broom and dustpan
We have been developing a compact beach cleaning robot ”Hirottaro 3”. In order to collect small refuse effectively
on a sandy surface, the robot was equipped with a. Furthermore, the robot was capable of traveling autonomously
on the sandy beach that had insufficient natural landmarks by self-localization using poles and a scanning range
finder. This paper reports the performance evaluation of refuse collection and autonomous navigation on the sandy
beach
Disadvantage
Unable to collect at sand
D. Review on the Development of Road Cleaning and Scrap Collecting Robotic Vehicle
This paper shows continuous examination done on the advancement of Road Cleaning and Scrap Collecting
Robotic Vehicle and its uses on different surfaces. As neatness of our condition has its own ideal conditions which
makes it a basic topic of research nowadays as it goes under Swacchh Bharat Abhiyan, an activity taken by the
legislature of India additionally it favors green collecting structures and we pointed conveying cleaner streets by
utilizing least endeavors.
Disadvantage
Needs 2 different mechanism to operate complex structure too.
E. Garbage Collection Robot on the Beach using Wireless Communications
This article presents the garbage collection robot on the beach using wireless communications. The user can control
a robot via a program developed from Visual Basic 2005 application based on Window XP. The commands from
user are sent via IOT to the processor for processing The results of robot performances were found that the robot
can move with an average speed of 0.5 meters per second on the sand via wireless communication and collect the
big garbage with side 12.5 x 49 cm, for example, glass bottles, and plastic, etc.
Disadvantage
Size constraint and controlling range is small .

VII. BLOCK DIAGRAM

Fig -1: Block Diagram

The river cleaning robot is integrated into three segments shown in Figure 1.
The first segment of the system involves the input source of the mechanism that consists of
the magnetic switch mobile phone application and solar panel. The processor development
was the second segment of system development. In this segment, the microcontroller processor
is integrated using the Arduino IDE software is to perform coding of the source code. The

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software enables compilation of the necessary commands and source code into the
NODEMCU V2 processor. Meanwhile, the third segment of the system focused on the output
source for the mechanism. The output source consists of the integration of mechanical
segments such as DC motors the circuit diagram for this system designed using Proteus
software, software developed by England Lab center Electronics Ltd for schematic capture,
simulation, and printed circuit board layout design [9-10]. This circuit diagram consists of an
Arduino, motor driver, switches and motors as shown in Figure. The controller acts
accordingly on the DC motor of the robot. The robot in the project can be made to move in all
the four directions using the android phone. The direction of the robot is indicators using LED
indicators of the Robot system. In achieving the task the controller is loaded with program
written using Embedded ‘C’ Languages.
VIII. MECHANISM :
A. Waste that will be able collected by this robot is floating on the surface of waterways, such as bottles, plastic
cans, covers, and etc... It is collected through a belt conveyor then placed in the designed place. This conveyer
designed rotating continuously. Cleaning work by naturally provide great maneuverability and collect trash easily.

IX. EXPERIMENTAL SETUP

X. MECHANICAL REQUIREMENTS
Axle Shaft:It as the place for the propeller to rotate, thus the robot could move correctly.
Power Cell:The power of the system has to be consumed by the solar power , the harvested energy has made the
battery at least ¼ times longer than only using [Link] is perhaps is a small value, but could be designed for
larger capacity if only the space could be created in future study for the solar cell.
Ultrasonic Sensor: the electronic device measures target of the distance object by emitting ultrasonic waves &
coverts reflected sound wave into electrical signal. The waves travel faster compared to speed of audible sound
(i.e. the sound that humans can hear) Obstacles will be detected and send as an alert message to Iot server. Principle
of the ultrasonic sensors emits short, high –frequency sound pulses at regular intervals. Range: 40 to 70 kHz, the
frequency determines the range and resolution.
Dc Motor: It consists of a stator, an armature, a rotor and a commutated with brushes. DC motors are attached to
wheels of the robot for paddling. DC motors is any type of rotators electrical machines that converts direct current

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electrical energy into mechanical energy .The most common types rely on the forces produced by magnetic fields.
Nearly all the types of DC motors have some internal mechanism, either electromechanical or electronic; to
periodically change the directions of current flow in the part of the motor.
Motor Driver: It is a integrated circuit chip used as a motor controlling device is autonomous robots & embedded
circuit L293D & UL93D are most commonly used motor driveIC, the direction of motor based on the command
or instruction receives from the controller. It receives the signal from the microprocessor, it transmits the converted
signal to motor .This signal can receive from microcontroller but it cannot change the input value of signal (i.e.:
high voltage to low voltage),it will pass the same signal that receive from the microcontroller .
Arduino Microcontroller It consists of both physical programmable circuit board and, software piece that runs on
your computer code to the physical board.
Front Slab: It is used for directing the waste on the water surface and introducing it to the conveyor so that the
trash could be transferred to trashcans.
Trashcans: These are used for the place of waste after erected by front slab and conveyor.
Propellers: This will be connected to two DC motors therefore; it could be controlled including turning move and
upward & backward. A tube-like boat body is used as the main body of the robot. This design is chosen to enable
robot floating on the water.
Microcontroller: It is a small computer on a single metal oxide semiconductor integrated circuit chip
microcontroller contains one or more CPUs along with memory and programmable input output peripheral .They
run one specific program and are dedicated to a single task. Microcontroller can take input from the device them
controlling and retain control by sending the device signal to different parts of device.
Conveyor: which is used for the delivery system of the waste from the water to the designated trashcans? A
conveyor belt is the carrying medium of a belt conveyor system. Typically, conveyor systems consist of
a belt stretched across two or more pulleys. The belt forms a closed loop around the pulleys so it can continually
rotate. One pulley, known as the drive pulley, drives or tows the belt, moving items from one location to another
The conveyor belt carries the garbage to the dustbin an drop it over there.
Decoder: It is a circuit used to change the code into a set of signals, it has reversed of encoding A digital decoder
converts a set of digital signal into corresponding decimal code.
Relays: These are switches that open and close circuits electromechanically or electronically. Relays control one
electrical circuit by opening and closing contacts in another circuit. As relay diagrams show, when a relay contact
is normally open (NO), there is an open contact when the relay is not energized. Relays activate the wheel motors
and to control the speed of the paddle.

XI. RESULTS
A. The result to the complete system is given below with step by step process
Turn ON the power supply. After that all the components gets activated. However, to meet the functional design
necessary for some particular application, this model, perhaps, will be changed. In order to maintain the main
function of this robot, here is several of the main function that should be accommodated by a river cleaning robot
designed in this study as depicted in Figure 5. These features could be breakdown into more tangible components,
they are: The system will be fully controlled by microcontroller that is now very much used in IoT application.
a) GPS module will be connected to Arduino and thus introducing the possibility to locate the robot
when its working with a large area of water, minimizing the possibility of the robot miss-controlled
or lost during the operation.
b) For solar cell, the harvested energy has made the battery at least ¼ times longer than only using
battery. It is perhaps is a small value, but could be designed for larger capacity if only the space could
be created in future study for the solar cell.
c) IoT system will be managed by some sort of cloud system that allows IoT features, such as Amazon
Web Services (AWS).
d) The waterproof ultrasonic sensor will be applied in the system, since the robot will work with the
watery environment. However, the ultrasonic sensor will still be protected physically by some sort of
shield.
e) PH sensor will be located thus introducing a monitoring system of a pH level of surrounding water in
the river through a robot

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X. ADVANTAGES
 Man power is reduced due to automated self-service.
 The robot gives non conventional and makes eco friendly.
 Its maintenance cost is low.
 The human interaction is low this is the main advantage.
 The cleaning of garbage in the water makes the pollution free & keeps the environment healthy.
 Harvesting of garbage in the water makes flow of water in the pipelines.

XI. CONCLUSION
The problem of water logging due to plastic paper, sand, metal leads to pest growth and it favors diseases like
malaria, typhoid etc. This is unsafe for human life. The proposed system cleans the garbage present in small land
big lake and minimizes the use of fuel operated garbage collector. The aquatic animals can save & reduced the
time, efforts, and diseases for human by cleaning the lake by this robot.

REFERENCES
[1] M. Mohamed Idhris, [Link],C. Manoj Kumar, [Link], Mr. K. Suganeswaran
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Number2 -March 2017
[3] .Abhijeet.M. Ballade, Mr. Vishal.S. Garde, [Link],“Design&fabricationofriver
cleaning system”, IJMTER Volume 04, Issue 2, [February– 2017] ISSN(Online):2349–9745.
[4] Mr. P. M. Sirsat, Dr. I. A. Khan, Mr. P. V. Jadhav, Mr. P. T. Date, “Design and fabrication of River Waste Cleaning
Machine”, IJCMES 2017 Special Issue-1 ISSN:2455-5304
[5] Pankaj Singh Sirohi, Rahul Dev, ShubhamGautam,Vinay Kumar Singh, SarojKumar,“Review on Advance River
Cleaner”, IJIR Vol-3, Issue-4, 2017 ISSN:2454-1362.
[6] [Link], Akash Dambhare, Kundan Golekar, AkshayGiri, “Efficient lake garbage collector by using pedal operated
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[8] Siddhanajanani,H N Supreetha, Boomika , yogithasree RP, pallavi M .Maharaja institute of Mysore.
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