INNOVATIVE SOLAR-POWERED AUTONOMOUS ROBOT FOR

ECO-FRIENDLY POOL AND LAKE CLEANING

A PROJECT REPORT

Submitted by

SUDHANRAJ D 960521114026
VELMANI K 960521114030

RAMANATHAN M 960521114333

SANJAY L 960521114335

in partial fulfilment for the award of the degree

of
BACHELOR OF ENGINEERING
IN

MECHANICAL ENGINEERING

CAPE INSTITUTE OF
TECHNOLOGY

ANNA UNIVERSITY: CHENNAI 600 025

MAY 2025

i
 ANNA UNIVERSITY: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this project report " INNOVATIVE SOLAR-POWERED

AUTONOMOUS ROBOT FOR ECO-FRIENDLY POOL AND
LAKE CLEANING" is the Bonafide work of "SUDHANRAJ D
(960521114026), VELMANI K (960521114030), RAMANATHAN M
(960521114333), SANJAY L (960521114335)" who carried out the project
work under my supervision.

SIGNATURE SIGNATURE
HEAD OF THE DEPARTMENT SUPERVISOR
Dr.N. SIVAGURUMANIKANDAN Dr.N. SIVAGURUMANIKANDAN
M.E., Ph.D., M.E., Ph.D.,
Associate professor and head Associate professor and head
Dept. of mechanical Dept. of mechanical
Engineering, cape institute of Engineering, cape institute of
Technology, Technology,
Levengipuram. Levengipuram.

Submitted for the viva-voce examination held on at Cape Institute

of Technology

INTERNAL EXAMINER EXTERNAL EXAMINER

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 ACKNOWLEDGEMENT

I am personally indebted to a number of people that our complete

acknowledgement would be an Encyclopedia. First and foremost, I
acknowledge for abiding presence and the abounding grace of our Almighty
God right through the execution of my project.
I express my deep sense of gratitude and heartily thanks to our
college chairman Er.I. KRISHNA PILLAI M.Tech., for providing all
facilities and effective measures rendered to succeed the project.
I express our heartful thanks to our Pro Chairman Er. K. V.
IYAPPA KARTHIK B.E., MBA (UK)., providing full facilities and
technical environment to start this project work.
I thank our beloved principal Dr.H. KANAGASABAPATHY M.E.,
Ph.D., for his valuable support throughout the course of the project.
I thank our beloved Head of the Department Dr.N.
SIVAGURUMANIKANDAN M.E., Ph.D., for his valuable Guidance
throughout the project
I would like to thank the teaching and non-teaching staff members
for rendered their timely help to complete this project work in a successful
manner. Finally, I wish to extend my sincere thanks to all my friends for their
encouraging words and timely help.

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 ABSTRACT

Water sources are contaminated by garbage, weeds and plastic waste.

Effective waste removal in water sources such as lakes, ponds and rivers is

essential for waste management and control. In India, aquatic waste management

and control is of main concern for implementing smart cities and achieving the

mission of a cleaner India. This work aims at creating an automated system to

tackle the problem of water waste removal. Lake cleaning robot system for

removing surface waste is experimented in this work. We are going to use Solid

works and Proteus software to model and build Arduino Circuit for our water

collector bot. It will collect the waste from the surface of water and dump it into

the tub placed behind it. With the use of motors, the bot and collectors will have to

& movement. This project can be used for effective waste removal from the surface

of the was

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 TABLE OF CONTENTS

CHAPTER TITLE PAGE NO

ABSTRACT iv
LIST OF FIGURES vii

1 INTRODUCTION 1

1.1 BACKGROUND OF THE STUDY 1

1.2 PROBLEM STATEMENT 3
1.3 OBJECTIVES OF THE STUDY 4
1.4 SCOPE OF THE STUDY 4
1.5 SIGNIFICIANCE OF THE STUDY 5
1.6 RESEARCH METHEDOLOGY 6
1.7 ORGANIZATION OF THE STUDY 7

2 LITERATURE REVIEW 9

3 SYSTEM ANALYSIS 15
3.1 EXISTING SYSTEM 15
3.1.1 Disadvantages 18
3.2 PROPOSED SYSTEM 18
3.2.1 Advantages 20

4 SYSTEM DESIGN 22
4.1 BLOCK DIAGRAM 22
4.2 EXPLANATION 23
4.3 CIRCUIT DIAGRAM 24
4.4 APPLICATIONS 24
 4.5 ADVANTAGES 25
4.6 LIMITATIONS 26
5 SYSTEM REQUIREMENTS 28
5.1 HARDWARE REQUIREMENTS 28
5.2 SOFTWARE REQUIREMENTS 48
6 RESULT AND DISCUSSION 51
7 CONCLUSION AND FUTURE WORK 52
7.1 CONCLUSION 52
7.2 FUTURE WORKS 53
REFERENCES 54
 LIST OF FIGURES

FIG.NO DESCRIPTION PAGE NO

4.1 BLOCK DIAGRAM 22

4.2 CIRCUIT DIAGRAM 24

5.1 ARDUINO UNO BOARD 29

5.2 MOTOR DRIVER 34

5.3 RELAY 38

5.4 SOLAR PANEL 42

5.5 ULTRASONIC SENSOR 45

5.6 MOTOR 47

5.7 ARDUINO IDE 50

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 CHAPTER 1
INTRODUCTION

1.1 Background of the study

Water pollution has become one of the most pressing environmental issues
in today’s world. Lakes, ponds, rivers, and other natural water bodies are
increasingly contaminated with garbage, plastic waste, and aquatic weeds.
These pollutants not only degrade water quality but also disrupt aquatic
ecosystems, threaten biodiversity, and pose serious health risks to humans and
animals alike. One of the major contributors to this pollution is the accumulation
of surface waste, which can be seen floating on water bodies across both urban
and rural areas.

India, being a country with a vast network of rivers and lakes, faces a
significant challenge in managing aquatic waste. Despite government initiatives
like the Swachh Bharat Abhiyan (Clean India Mission) and the Smart Cities
Mission, manual cleaning efforts remain insufficient to address the growing
issue of surface water contamination. Moreover, traditional cleaning methods
are labor-intensive, time-consuming, and often risky for workers involved in
cleaning polluted or inaccessible water bodies.

With the advent of automation and robotics, innovative solutions can now be
designed to handle environmental challenges more efficiently. In this context,
the concept of a lake cleaning robot presents a promising alternative to
conventional waste removal methods. A robot-based solution not only reduces
human effort but also enhances the precision, speed, and effectiveness of the
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cleaning process. When integrated with renewable energy sources like solar
power, such a system becomes both eco-friendly and self-sustaining.

The objective of this project is to develop an capable of collecting floating

waste from lakes and other water bodies. The robot is designed to operate on
the water surface, equipped with a waste collection mechanism that scoops or
pulls waste into a storage compartment placed on the rear of the bot. The use
of solar panels ensures that the robot remains energy efficient, minimizing
dependency on external power sources and enabling continuous operation in
remote areas.

To bring this concept to life, the system is modeled using SolidWorks

for the mechanical design and Proteus software for simulating the Arduino-
based control circuit. The robot uses DC motors for navigation and waste
collection, all managed by an Arduino microcontroller through a motor driver
interface. The system can be operated using remote control, allowing the user
to guide the robot manually across the water surface and target specific areas
for cleaning.

This introduction sets the stage for a practical, scalable, and

environmentally conscious solution to water surface pollution. By integrating
automation with green energy, this project not only supports smart waste
management but also contributes toward sustainable development and the
larger vision of a cleaner India. The following sections will detail the design,
implementation, and testing of the proposed lake cleaning robot.

2
1.2 PROBLEM STATEMENT

Water bodies such as pools and lakes often accumulate debris, plastic
waste, leaves, and other pollutants that degrade water quality, harm aquatic
life, and diminish the aesthetic and recreational value of these environments.
Traditional cleaning methods are labor-intensive, time-consuming, and rely
heavily on manual operation or fossil fuel-powered equipment, which
further contributes to environmental degradation. There is a pressing need
for a sustainable, efficient, and low-maintenance solution that can
continuously manage surface waste and ensure the cleanliness of these water
bodies.

Autonomous cleaning systems offer a promising solution but often face

limitations related to energy consumption, limited operational range, or high
dependency on external power sources. Most available robotic cleaners are
designed only for pools and not adaptable to natural or larger water bodies
like lakes, where varying surface conditions, water currents, and irregular
waste distribution require more intelligent and adaptable navigation.
Moreover, the integration of clean energy sources such as solar power
remains limited in current commercial offerings.

This project aims to design and develop an Innovative Solar-Powered

Autonomous Robot that can operate in both pools and lakes, collecting
floating waste using eco-friendly technology. Powered entirely by solar
energy, the robot will function autonomously using sensors and intelligent
navigation algorithms to detect and collect waste efficiently. Its modular
design, sustainable power source, and AI-based path optimization will
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 enable long-duration, zero-emission operation, contributing to
environmental protection and public health by maintaining clean and safe
water ecosystems.

1.3 OBJECTIVES OF THE STUDY

▪ To design and develop a solar-powered autonomous robot capable of

cleaning floating waste from both pools and natural water bodies like
lakes using sustainable energy sources.
▪ To implement intelligent navigation and obstacle avoidance systems
using sensors and microcontrollers, enabling the robot to operate
autonomously in varying water conditions.
▪ To ensure efficient collection and storage of waste through a modular
and easy-to-maintain mechanical design that can adapt to different
sizes and types of debris.
▪ To minimize environmental impact by utilizing renewable solar
energy, thereby promoting green technology and reducing
dependency on fossil fuels.
▪ To evaluate the robot’s performance in real-world conditions,
analyzing parameters like cleaning efficiency, energy consumption,
operational time, and system reliability.

1.4 SCOPE OF THE STUDY

This study focuses on the design, development, and testing of a solar-

powered autonomous robot specifically engineered to clean floating waste
from water surfaces such as swimming pools, ponds, and small to medium-
sized lakes. The project covers the integration of renewable solar energy as
the primary power source, along with sensor-based navigation systems that
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allow the robot to move autonomously, detect obstacles, and efficiently
collect debris. The study also includes the development of a waste collection
mechanism that can handle various types of floating pollutants like plastic,
leaves, and other organic matter.

The scope further extends to evaluating the robot’s performance under

different environmental conditions, including changes in sunlight availability,
water currents, and debris density. It explores the potential for scaling the
system for larger water bodies and assesses its applicability in public, private,
and municipal cleaning operations. The study aims to contribute to
environmental sustainability by offering a practical, low-cost, and energy-
efficient solution that minimizes human effort while promoting cleaner and
healthier aquatic ecosystems.

1.5 SIGNIFICANCE OF THE STUDY

The development of a solar-powered autonomous robot for pool and lake

cleaning addresses a growing environmental concern—water pollution caused
by floating waste such as plastics, leaves, and other debris. This study is
significant as it introduces an eco-friendly, efficient, and low-maintenance
solution that reduces the reliance on manual labor and fossil fuel-powered
machinery. By using solar energy, the robot contributes to a sustainable
approach to water body maintenance, aligning with global efforts to combat
environmental degradation and climate change.

This study is also significant from a technological perspective. It combines

renewable energy systems with autonomous robotics, showcasing how
interdisciplinary engineering can solve real-world problems. The integration
of sensors, microcontrollers, and navigation algorithms allows the robot to
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operate intelligently and independently, adapting to different aquatic
environments. This not only demonstrates innovation but also opens the door
for further research and development in green robotics and smart
environmental solutions.

Furthermore, the project holds social and economic value. Clean and safe
water bodies enhance public health, promote tourism, and improve local
ecosystems. The proposed solution offers a cost-effective alternative for
municipalities, private institutions, and recreational facilities seeking to
maintain water quality without incurring high operational costs. By
minimizing human intervention and operational expenses, this robotic system
represents a forward-thinking investment in both environmental stewardship
and sustainable technological advancement.

1.6 RESEARCH METHEDOLOGY

The research methodology for this study begins with a comprehensive

literature review and requirement analysis to understand the current
technologies used in water cleaning systems, the limitations of existing
robotic solutions, and the potential of solar-powered systems. This phase
includes studying sensor integration, autonomous navigation, waste collection
mechanisms, and energy management. Based on this analysis, the technical
specifications and design requirements for the proposed robot are formulated.

The second phase involves the design and development of the robot,
which includes mechanical design using CAD tools, electrical circuit design
for sensor and solar integration, and software development for autonomous
control using microcontrollers (e.g., Arduino or Raspberry Pi). The robot is
equipped with components such as solar panels, ultrasonic sensors, motors,
6
and a waste collection unit. Prototyping is carried out with iterative testing
and refinement to ensure the system functions as expected in both pool and
lake environments.

The final phase includes performance testing and evaluation in

controlled and natural environments. Key performance indicators such as
energy efficiency, navigation accuracy, waste collection capacity, and
operational duration are measured. Data collected during these tests is
analyzed to assess the effectiveness, reliability, and environmental impact of
the robot. Based on the findings, improvements are made, and conclusions are
drawn regarding the system's scalability and practical applications in real-
world scenarios.

1.7 ORGANIZATION OF THE STUDY

This study is organized into several key chapters that systematically

present the development of the solar-powered autonomous robot for eco-
friendly pool and lake cleaning. The first chapter introduces the background,
problem statement, objectives, scope, significance, and research questions of
the study. It sets the foundation by highlighting the need for sustainable water
cleaning solutions and outlines the aims and potential impact of the proposed
robotic system.

The second chapter covers the literature review, summarizing existing

research, technologies, and methodologies related to autonomous cleaning
robots, solar energy integration, and waste collection mechanisms. This
chapter identifies gaps in current solutions and justifies the need for an
innovative approach. It also provides insights into design considerations,

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sensor technologies, and energy management strategies that influence the
proposed solution.

The remaining chapters detail the design, implementation, testing, and

evaluation of the robot. The methodology chapter explains the system
architecture, component selection, programming, and integration processes.
The results and discussion chapter presents experimental findings and
performance analysis, followed by the conclusion and recommendations,
which summarize key outcomes, limitations, and future improvement
possibilities. This structure ensures a logical and comprehensive flow of
information throughout the study.

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 CHAPTER 2

LITERATURE REVIEW

MuhammadAsifetal. (2021)
The study presents the design of a solar-powered robotic cleaner aimed at
enhancing energy efficiency and sustainability. The robot uses solar panels to
charge a battery that powers the motors and cleaning system. The remote-
control feature adds user-friendly functionality. Their prototype was tested on
small-scale pools and showed effective debris removal. The authors
emphasized low-cost design and ease of use. Challenges faced included
battery efficiency and motor reliability. The robot significantly reduced
manual cleaning efforts. This work contributes to smart home automation
using green energy.

PriyaSharmaandNehaYadav (2020)
This research focuses on designing a solar robotic pool cleaner controlled
via Bluetooth. The robot collects leaves and surface debris using a rotating
brush mechanism. A solar panel recharges the lithium battery, enabling
prolonged usage. The authors also implemented an Arduino-based control
system for remote operations. Efficiency was tested across multiple pool
types. The robot performed well in sunny environments but struggled under
cloud cover. The study recommends a hybrid power option. It emphasizes
combining IoT and renewable energy for smart cleaning systems.

S.K.Singhetal.(2019)
The authors explore an autonomous solar-powered surface cleaning robot for
water bodies. The robot targets floating waste using a conveyor mechanism.
achieved through a GSM module. The system was successfully deployed in a
9
small lake for trials. Cleaning efficiency reached up to 85% with consistent
sunlight. The team highlights maintenance-free operation as a key benefit.
This research provides a foundation for solar cleaning robotics in public pools
or lakes.
R.RajkumarandS.Pavithra(2018)
This paper discusses a floating solar cleaning bot with manual and
autonomous control. It features a brush and suction mechanism driven by solar-
charged motors. A mobile app is used for remote operation. The robot can
cover predefined routes and navigate using ultrasonic sensors. Its modular
design allows easy repair and upgrades. Trials showed improved water
hygiene and debris removal. The authors stress energy independence and
environmental friendliness. Their design aligns with smart city concepts.

RameshBabuandK.Dinesh(2022)
The study presents a semi-autonomous robot for pool maintenance using
solar panels. It integrates a microcontroller for movement and obstacle
detection. The bot collects debris and algae using a rotating scrubber. Solar
energy helps extend battery life and reduce energy costs. Manual override is
available via a remote-control interface. Testing in residential pools yielded
promising results. The authors suggest incorporating water quality sensors.
This adds potential for chemical balancing along with cleaning.

V.RathiandA.Nair(2017)
In this work, the team developed a solar-powered cleaning bot using RF
remote control. The device uses floating pads to remain buoyant and rotates
a cleaning brush underneath. A small onboard solar panel charges the battery
during operation. The range of the RF remote is approximately 30 meters. The

10
 robot was tested in still water conditions. It effectively removed leaves and
dust from the pool surface. The authors propose increasing automation for
future models. Their work contributes to remote-operated green technology.

T.ReddyandG.Manjunath(2021)
This research builds a solar-powered aquatic robot to clean pools and ponds.
The robot has a lightweight frame with brush and suction units. An ESP8266
module allows wireless control via Wi-Fi. Real-time data like battery level and
operational time are monitored. Solar panels provide continuous charging in
daylight. Field trials confirmed usability for medium-sized pools. Cleaning
duration depends on debris density and sunlight availability. Authors suggest
improving underwater debris collection in future iterations.

AnjaliVermaandS.Prasad(2020)
The paper introduces a remote-controlled solar bot equipped with
temperature and turbidity sensors. The bot autonomously cleans and monitors
pool conditions. Solar panels are mounted on top to continuously power the
robot. Control is achieved using a smartphone app via Bluetooth. The bot
uses a servo-driven arm to collect floating waste. It alerts users when
maintenance is needed. The study demonstrates the integration of cleaning
and monitoring systems. It's aimed at smart water body management.

NaveenKumaretal.(2019)
The authors present a cost-effective solution for solar-powered robotic
cleaning in urban environments. Their design is compact, remote-controlled,
and suitable for narrow spaces like garden pools. Solar panels are adjustable
to maximize energy capture. A joystick controller directs the robot’s motion.
The device uses a netting system to trap debris. Battery management is
11
optimized for longer runtimes. The paper highlights affordability and ease of
implementation. It’s ideal for domestic and semi-commercial use.

SnehaKulkarniandR.Tiwari(2018)
This study proposes a floating robotic system for pool surface cleaning. It
employs a combination of solar energy and manual charging. The robot uses
dual DC motors for movement and debris collection. Control is via a handheld
RF remote with direction buttons. It’s lightweight and designed for
portability. The authors focus on user safety and ease of deployment. Testing
showed a good balance between performance and power efficiency. Further
development could include water purification features.
A.BanerjeeandM.Das(2021)
A novel autonomous solar pool cleaner with obstacle avoidance was
developed in this paper. Ultrasonic sensors detect edges and prevent the bot
from getting stuck. It uses a waterproof casing to protect internal components.
The bot charges through high-efficiency solar cells. A remote override feature
allows manual guidance. Field tests show strong performance in outdoor
pools. Authors suggest AI integration for route optimization. This work
blends autonomy with renewable energy for domestic use

DeepakS.andVinayR.(2022)
The authors created a robot using solar energy and remote-controlled motors
for pool cleaning. The structure includes a mesh collection bin and rotating
propellers. Bluetooth- based remote control provides real-time direction
control. Solar panels reduce electricity dependence. The bot showed effective
cleaning of organic matter and light debris. Water resistance and floatation were
tested for stability. It's suggested for low-maintenance and regular pool

12
upkeep. Further improvements include adding GPS tracking for coverage
analysis.

HarshaN.andV.Pradeep(2023)
This paper outlines a dual-mode cleaning robot—automatic and remote-
controlled— powered by solar energy. The robot features a debris net, a water
pump, and a solar panel array. It's controlled by an Android app through Wi-
Fi. The team tested the robot across multiple water conditions. Cleaning was
efficient in shallow pools with floating particles. Battery life extended up to 6
hours under sunny conditions. The research promotes eco- friendly smart pool

IshaPatelandMehulShah(2019)
Their study focuses on creating a sustainable robotic cleaner for residential
pools. The robot is compact and solar-powered, with simple remote-based
maneuvering. It features a detachable filter unit for easy cleaning. Testing was
done in chlorinated and freshwater pools. Results showed consistent
performance in varying conditions. The authors recommend adding depth
sensors and scheduling options. The bot is user-friendly and low maintenance.
This adds to the literature on renewable automation systems.

RohitMeenaandS.Taneja(2020)
This project developed a solar-powered cleaner with mobile-based control
for pool cleaning. The robot uses IR sensors for collision avoidance. Solar
energy is stored in a Li- ion battery pack for operation during low sunlight. A
fan-based mechanism helps suck up floating debris. The mobile app allows
speed and direction control. Testing was successful in both outdoor and indoor
pools. Authors propose integrating AI for auto-cleaning routines. Their design
is focused on smart and green tech adoption.
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 CHAPTER 3

SYSTEM ANALYSIS

3.1 EXISTING SYSTEM

Floating debris collection boats are specialized vessels equipped with

onboard storage bins or compactors for collecting and storing marine litter.
These boats typically operate in coastal areas, estuaries &urban water bodies,
where they can navigate shallow waters and densely populated areas to collect
floating debris. Floating debris collection boats are specialized vessels designed
to remove marine litter from water bodies such as coastal areas, estuaries, and
urban waterways. These boats are equipped with onboard storage bins or
compactors where collected debris is stored until it can be properly disposed
of.
Floating debris collection boats are an indispensable part of modern marine
litter management systems, especially in areas where water pollution is a
significant concern. These specialized boats are engineered to operate in
coastal regions, estuaries, and urban waterways, effectively collecting floating
waste before it can have a lasting environmental impact. They are equipped
with various collection mechanisms such as conveyor belts, mechanical arms,
nets, or vacuum systems, allowing them to efficiently gather debris ranging
from small plastic particles to larger, bulkier items. Their primary function is to
remove marine litter in real-time, preventing it from sinking, degrading into
microplastics, or polluting the shoreline. The continuous operation of these

14
boats ensures that the waterway remains clean, even during high-traffic periods
or in areas with frequent littering, thus significantly reducing the accumulation
of waste in the marine ecosystem.

The technology behind floating debris collection boats has evolved to

enhance their efficiency and adaptability to different types of waterways.
These boats come in various designs and sizes, each tailored to its specific
environment. In urban water bodies with narrow canals and dense debris,
smaller, more maneuverable boats with specialized equipment for handling
intricate spaces are preferred. Larger coastal boats are equipped with robust
collection and storage systems capable of gathering substantial amounts of
waste from vast open water areas. Moreover, many modern vessels incorporate
advanced features such as GPS navigation, autonomous operation, and real-
time monitoring systems that track water quality, waste levels, and debris types.
These advancements not only increase collection efficiency but also help in
managing the collected waste by sorting it onboard, which can then be sent to
recycling facilities, further reducing the environmental footprint of the
operation.

Floating debris collection boats often work in close collaboration with

local municipalities, environmental agencies, and community organizations.
These partnerships are vital in ensuring that the boats are deployed in the most
impactful areas, addressing local environmental needs while contributing to
broader regional or national waste management strategies. In many cities, the
boats are part of larger environmental protection programs that aim to tackle
pollution in urban waterways and protect marine ecosystems. Such
collaborations ensure that the boats are used not just for waste collection but

15
also for raising awareness about the impact of pollution on water bodies. Local
communities, through educational campaigns and volunteer programs, can
become actively involved in supporting the cleanup efforts, helping to foster a
collective sense of responsibility toward environmental stewardship.

These community-driven initiatives have proven to be effective in

amplifying the impact of floating debris collection boats and ensuring
sustainable waste management practices.

While the upfront costs of deploying floating debris collection boats can be
high, their long-term benefits often outweigh the investment. The boats reduce
the need for more extensive, expensive cleanup operations such as shoreline
removal or waste disposal in landfills. Moreover, by preventing waste from
entering the marine environment, they help protect coastal tourism industries,
fisheries, and aquatic biodiversity, all of which can be severely impacted by
water pollution. Many of these boats are designed with sustainability in mind,
incorporating energy-efficient systems and using eco-friendly materials to
minimize their environmental impact. As technology advances, the cost of
building and operating these boats is expected to decrease, making them a more
accessible solution for countries and regions worldwide. The global adoption
of floating debris collection boats is on the rise, with many nations investing in
these vessels to address the growing problem of marine pollution. As
awareness about ocean and waterway health increases, it’s likely that more
innovative solutions, including autonomous boats and integrated waste
management systems, will emerge, making these boats even more effective in
preserving our aquatic ecosystems.

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 3.1.1 Disadvantages
• Environmental Impact

• Maintenance Challenges

• Limited Coverage

3.2 PROPOSED SYSTEM

The garbage collector robot needs to be able to float in the water and it also
needs to remain floating as its weight increases. The motion of the collector
tray will also cause the problem as the weight of the garbage on the collector
tray may result in a slight deviation of the center of gravity of the robot.
Keeping this in mind, we have decided to implement the shape of a boat/canoe
which is bottom heavy. as we have the dumping of the garbage in tub can be
compensated. For the motion of the bot, we have decided to take help of
propellers which will be connected to the sides of the robot and are actuated
using a 1000 rpm geared DC motor. We added more mass at the bottom, and
has heavy equipments like motors battery and the collection tub at the back .

overall design of the garbage collector robot emphasizes stability and

buoyancy on water. Drawing inspiration from canoe-like shapes, the hull has
been engineered to be bottom- heavy. This ensures that the robot remains
upright even as it collects increasing amounts of garbage, which may
otherwise shift the center of gravity. The wide, flat bottom provides a broad
surface area that displaces more water, contributing to better flotation. The
design avoids sharp edges or high points on the hull, reducing the chances of
tipping or destabilization. With these considerations, the robot can safely .

17
Buoyancy Considerations Maintaining buoyancy is crucial for ensuring that
the robot stays afloat despite the added weight of the motors, battery, and
accumulating garbage. To address this challenge, the buoyancy of the robot is
carefully calibrated. As the weight of the garbage increases, the robot's overall
volume and distribution of weight ensure that it remains buoyant. The shape
and materials of the hull are chosen to minimize the effect of the addedmass,
and floating mechanisms are optimized to account for the robot's dynamic
state during operation. In the event of uneven garbage distribution, the
bottom-heavy design prevents tipping, keeping the center of gravity low and the
robot balanced.

Center of Gravity Management The collection process introduces a

dynamic shift in the robot's center of gravity as garbage is collected. While the
garbage itself may be unevenly distributed, the bottom-heavy design mitigates
the risks of instability. By placing key components such as motors, batteries,
and the garbage collection tub at the lower section of the robot, the center of
mass remains close to the waterline. This ensures that even as the weight of the
garbage tray increases, the robot's center of gravity stays within the stable
range, helping to avoid tipping or submerging. Moreover, the rear placement
of the garbage tub minimizes forward tilting, further stabilizing the robot
during operation.

Propulsion System and Movement For the propulsion of the robot, two
side- mounted propellers are used, each powered by 1000 RPM geared DC
motors. This setup allows the robot to maneuver efficiently in a water
environment, where the hydrodynamic properties and resistance .

18
 The propellers are placed laterally to provide balanced thrust, ensuring that
the robot can move in a straight line or execute turns when needed. The DC
motors are geared to provide sufficient torque at the required speed, enabling
the robot to overcome water resistance while maintaining good control in a
variety of conditions. The use of propellers provides better propulsion than
traditional wheeled mechanisms, which would be inefficient or impractical
for water-based movement.

Weight Distribution and Equipment Placement The distribution of mass

across the robot is critical to its stability. Heavy components like the motors
and batteries have been placed towards the bottom and rear of the robot to
ensure that the weight is evenly spread and the center of gravity remains low.
The placement of the garbage collection tub at the back allows the robot to
handle increased weight as more trash is gathered. This positioning also
reduces the risk of the robot tipping forward or becoming unbalanced. With a
proper weight distribution plan, the robot can efficiently collect and store
waste without compromising its stability on the water. Furthermore, careful
attention to the placement of the propellers ensures that the robot can maintain
steady propulsion without any imbalance in the movement or maneuvering.

3.2.1 Advantages:

• Efficient Removal
• Prevention of Marine Pollution
• It is a non-conventional river cleaning system.
• It’s initial & maintenance cost is low

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• Skill Worker not required to drive the system.
• Environment friendly system.
• Easy in operation

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 CHAPTER 4

SYSTEM DESIGN

4.1 BLOCK DIAGRAM

Fig 4.1 block diagram

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4.2 EXPLANATION

Lake Pool cleaner robot Collection & Recycling System integrates a range
of components, including an Arduino Uno microcontroller, ultrasonic sensors,
IR sensor, servo motor, relay, motor driver, and multiple motors, to streamline
the process of waste collection and recycling along riverbanks. The Arduino
Uno serves as the system's central processing unit, orchestrating the
functionalities of the various components. Ultrasonic sensor-1 is deployed to
detect obstacles along the riverbank, ensuring safe navigation for the
collection vehicle. Ultrasonic sensor-2 is utilized to monitor the fill level of
the waste collection tank, enabling timely emptying and maintenance.
4.3 CIRCUIT DIAGRAM

Fig. 4.2 Circuit Diagram

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4.4APPLICATIONS

• Swimming pool maintenance – Automated cleaning of residential,

commercial, and public swimming pools without human intervention.
• Lake and pond cleaning – Collection of floating debris, leaves, and plastics in
small to medium-sized natural or artificial lakes and ponds.
• Eco parks and water attractions – Maintenance of water bodies in eco parks,
resorts, and amusement parks to ensure cleanliness and safety.
• Municipal water management – Use by local governments for cleaning urban
water bodies, canals, and water retention areas.
• Industrial and agricultural water tanks – Cleaning surface waste from water
reservoirs used in industries or farms.
• Disaster cleanup assistance – Deployment after floods or storms to help
remove debris from stagnant or slow-moving water bodies.
• Educational and research tool – Utilization in academic institutions to teach
robotics, environmental science, and renewable energy applications.

4.5 ADVANTAGES

o Limited Cleaning Coverage: The cleaning mechanism, such as the

sponge roller and water spray pump motor, may have limitations in
reaching all areas of the solar panels, particularly if they are installed at
challenging angles or Utilizes solar energy as the primary power source,
reducing
dependency on electricity or fossil fuels and lowering carbon emissions.

o Successfully collects floating waste like plastic, leaves, and paper,

23
 helping maintain cleaner water surfaces.

o Allows the operator to precisely control the robot’s movement, making

it easier to clean targeted areas with high waste concentration.

o Requires minimal human intervention and energy costs, making it

suitable for long-term, low-budget maintenance operations.

o Compact and modular design makes it easy to transport, deploy, and scale
for different sizes of water bodies.

o Contributes to national goals like Swachh Bharat Abhiyan and Smart

Cities Mission by providing an automated cleaning solution.

o Reduces the need for manual labor in potentially hazardous water

environments, improving worker safety.

o Successfully designed in SolidWorks, simulated in Proteus, and tested

under controlled conditions — proving its functionality and feasibility
for real-world applications.

4.6 LIMITATIONS

• Dependence on Environmental Sensors: The effectiveness of the automated

cleaning process relies heavily on the accuracy and reliability of
environmental sensors. Any inaccuracies or malfunctions in these
sensors could lead to inadequate cleaning or unnecessary cleaning cycles,
impacting overall efficiency.
• locations. This could result in some areas of the panels being inadequately
cleaned, potentially reducing overall efficiency.
• Maintenance and Durability of Components: The system components,
including the Arduino Uno R3 microcontroller, motor driver, and cleaning
24
 mechanism, require regular maintenance and may be susceptible to wear and
tear over time. Failure or degradation of any of these components could lead to
system malfunction or reduced efficiency.
• Power Consumption: While Arduino is known for its low power consumption,
the continuous operation of the monitoring and cleaning system may still
consume a non-negligible amount of power, especially if powered by solar
energy. This could potentially offset some of the energy savings gained from
cleaner solar panels.
• Weather Conditions: Extreme weather conditions such as heavy rain, snow, or
strong winds may affect the performance of the automated cleaning system.
For instance, heavy rain could trigger unnecessary cleaning cycles, while snow
accumulation couldbstruct the cleaning mechanisms.

• Cost and Complexity: Implementing and maintaining the system may require
significant upfront costs for equipment and installation,
as well as ongoing expenses for monitoring and maintenance. Additionally,
the complexity of the system may pose challenges for users without sufficient
technical expertise.
• Compatibility and Integration: The system's compatibility with different types
of solar panels and existing installations may vary. Integrating the system into
older or non-standard setups could require additional customization and may
not always be feasible.
• Regulatory Compliance: Depending on the location and regulations governing
solar panel installations, there may be legal or regulatory requirements related
to the use of automated cleaning systems. Ensuring compliance with these
regulations could pose challenges or limitations to implementation.

25
 CHAPTER 5

SYSTEM REQUIREMENTS

5.1 HARDWARE REQUIREMENTS

hardware components used in the Solar Lake Pool C l e a n e r remote-

controlled robot Using Arduino:

• Arduino Uno

• Solar Panel

• Ultrasonic Sensor

• Battery

• Relay

• Motor

• Motor driver
5.1.1 ARDUINO UNO
The Arduino Uno is a microcontroller board based on the ATmega328
(datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz crystal oscillator, a USB connection, a
power jack, an ICSP header, and a reset button. It contains everything needed
to support the microcontroller; simply connect it to a computer with a USB
cable or power it with an AC- to-DC adapter or battery to get started. The Uno
differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-
26
serial converter.
“Uno” means one in Italian and is named to mark the upcoming
release of Arduino 1.0. The Uno and version 1.0 will be the reference
versions of Arduino, moving forward. The Uno is the latest in a series of USB
Arduino boards, and the reference model for the Arduino platform; for a
comparison with previous versions, see the index of Arduino boards. The
Arduino Uno can be powered via the USB connection or with an external
power supply. The power source is selected automatically. External (non-
USB) power can come either from an AC-to-DC adapter (wall-wart) or
battery. The adapter can be connected by plugging a 2.1mm center-positive
plug into the board’s power jack. Leads from a battery can be inserted in the
Gnd and VIN pin headers of the POWER connector.
The board can ’operate on an external supply of 6 to 20 volts. If
supplied with less than 7V, however, the 5V pin may supply less than five volts
and the board may be unstable. If using more than 12V, the voltage

Fig 5.1 Arduino UNO Board

27
 The Arduino Uno has a number of facilities for communicating with a
computer, another Arduino, or other microcontrollers. The Atmega328
provides UART TTL (5V) serial communication, which is available on digital
pins 0 (RX) and 1 (TX). An Atmega8U2 on the board channels this serial
communication over USB and appears as a virtual com port to software on the
computer. The 8U2 firmware uses the standard USB COM drivers, and no
external driver is needed. However, on Windows, an *.inf file is
required.Arduino’s processor basically uses the Harvard architecture where
the program code and program data have separate memory. It consists of two
memories- Program memory and the data memory. The code is stored in the
flash program memory, whereas the data is stored in the data memory. The
Atmega328 has 32 KB of flash memory for storing code (of which 0.5 KB is
used for the boot loader), 2 KB of SRAM and 1 KB of EEPROM and operates
with a clock speed of 6MHz.
Pin Configuration

▪ Analog Reference pin (orange)

▪ Digital Ground (light green)

▪ Digital Pins 2-13 (green)

▪ Digital Pins 0-1/Serial In/Out – TX/RX (dark green) – These pins

cannot be used for digital I/O (digital Read and digital Write) if you are
also using serial communication (e.g. Serial. Begin).
▪ Reset Button – S1 (dark blue)

▪ In-circuit Serial Programmer (blue-green)

▪ Analog In Pins 0-5 (light blue)

28
 ▪ Power and Ground Pins (power: orange, grounds: light orange)

▪ External Power Supply In (9-12VDC) – X1 (pink)

▪ Toggles External Power and USB Power (place jumper on two pins
closest to desired supply) – SV1 (purple)
▪ USB (used for uploading sketches to the board and for serial
communication between the board and the computer; can be used to
power the board) (yellow)

Digital Pins
In addition to the specific functions listed below, the digital pins on an
Arduino board can be used for general purpose input and output via
the pinMode(), digitalRead(), and digitalWrite() commands. Each pin has an
internal pull-up resistor which can be turned on and off using digitalWrite()
(w/ a value of HIGH or LOW, respectively) when the pin is configured as an
input. The maximum current per pin is 40 mA.
29
• Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial
data. On the Arduino Diecimila, these pins are connected to the corresponding
pins of the FTDI USB-to-TTL Serial chip. On the Arduino BT, they are
connected to the corresponding pins of the WT11 Bluetooth module. On the
Arduino Mini and LilyPad Arduino, they are intended for use with an external
TTL serial module (e.g. the Mini-USB Adapter).
• External Interrupts: 2 and 3. These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value. See the
attachInterrupt() function for details.
• PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite()
function. On boards with an Atmega8, PWM output is available only on pins 9,
10, and 11.
• BT Reset: 7. (Arduino BT-only) Connected to the reset line of the 27luetooth
module.
• SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support
SPIcommunication, which, although provided by the underlying hardware, is
not currently included in the Arduino language.

• LED: 13. On the Diecimila and LilyPad, there is a built-in LED connected to
digital pin 13. When the pin is HIGH value, the LED is on, when the pin is
LOW, it’s off.
Analog Pins
In addition to the specific functions listed below, the analog input pins
support 10-bit analog-to-digital conversion (ADC) using the analogRead()
function. Most of the analog inputs can also be used as digital pins: analog input
0 as digital pin 14 through analog input 5 as digital pin 19. Analog inputs 6
and 7 (present on the Mini and BT) cannot be used as digital pins.

30
o I2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication using the Wire
library (documentation on the Wiring website).
Power Pins
• VIN (sometimes labelled “9V”). The input voltage to the Arduino board
when it’s using an external power source (as opposed to 5 volts from the
USB connection or other regulated power source). You can supply
voltage through this pin, or, if supplying voltage via the power jack, access
it through this pin. Note that different boards accept different input
voltages ranges, please see the documentation for your board. Also note
that the LilyPad has no VIN pin and accepts only a regulated input.
• 5V. The regulated power supply used to power the microcontroller and
other components on the board. This can come either from VIN via an
on-board regulator, or be supplied by USB or another regulated
5V supply.
• 3V3. (Diecimila-only) A 3.3-volt supply generated by the on-board
FTDI chip.
• GND. Ground pins.

Other Pins

• AREF. Reference voltage for the analog inputs. Used with analogReference().
• Reset. (Diecimila-only) Bring this line LOW to reset the microcontroller.
Typically used to add a reset button to shields which block the one on the
board.

31
 5.1.2 MOTOR DRIVER

We use motor drivers to give high power to the motor by using a small
voltage signal from a microcontroller or a control system. If the
microprocessor transmits a HIGH input to the motor driver, the driver will
rotate the motor in one direction keeping the one pin as HIGH and one pin as
LOW.

Fig 5.2 MOTOR DRIVER

A motor driver showcases itself as an interface between the motor and the
microcontroller. The reason is that the microcontroller and the motor work on
different ranges of voltages. The engine will use up a higher current level than the
microcontroller. A motor driver is an electronic device or circuitry that controls the
operation of an electric motor. Its primary function is to provide the necessary power
and control signals to drive the motor efficiently and safely. Motor drivers are
commonly used in various applications ranging from robotics and automation to
automotive and industrial systems.

The working principle of a motor driver involves converting low- power

control signals from a microcontroller or other control circuitry into high-power

32
signals capable of driving the motor. This process typically involves several key
components, including power transistors, H-bridges, and protection circuits. Power
transistors are responsible for amplifying the control signals received from the
microcontroller to provide sufficient power to drive the motor. These transistors are
often arranged in pairs or arrays to handle the high currents and voltages required by
the motor. H- bridges are another critical component of motor drivers, especially in
applications where bidirectional control of the motor is required. An H- bridge
configuration consists of four switches (transistors or MOSFETs) arranged in a
bridge topology. By selectively turning on and off these switches, the direction of
current flow through the motor can be controlled, allowing for forward, reverse, and
braking operations.

Protection circuits are incorporated into motor drivers to safeguard the motor
and driver electronics from potential damage due to overcurrent, overvoltage, or
overheating conditions. These circuits typically include current sensing, voltage
regulation, and thermal protection mechanisms to ensure safe and reliable operation
of the motor driver. In operation, the motor driver receives control signals from the
microcontroller or control circuitry, which dictate the desired speed, direction, and
braking of the motor. Based on these signals, the motor driver amplifies and
modulates the power supplied to the motor, resulting in the desired motion or
operation of the motor.

Motor drivers play a crucial role in controlling the operation of electric motors
in various applications. By efficiently converting low- power control signals into
high-power signals capable of driving motors, motor drivers enable precise and
reliable control of motor speed, direction, and torque, contributing to the functionality
and performance of a wide range of electromechanical systems.

33
Critical characteristics of motor drivers
• Compatible motors: It is impossible to find motor drives that fit all the electric
motors. Some manufacturers make motor drivers
specifically for certain types of engines. However, the manufacturers make it
easier for you since they provide a list of all compatible motors to motor
drivers. Notably, most drivers are compatible with the DC and stepper motor.
However, a servo motor deserves more keenness when selecting a motor
driver.
• Interface: Many motor drives work perfectly when placed on an Arduino
driver board interface. However, some wireless projects require a wireless
motor driver. For example, the Bluetooth controller board is a good control
board for a wireless project.
• Voltage and Current: Voltage and current are the most important
characteristics to look for in a perfect motor driver. When working on a
project, you should already know what amount of supply voltage and
operating current your project requires. The driver you intend to use should
abide by the necessary level of functionality.

Applications of Motor Drivers:

• Motor drivers are extensively used in robotic systems to control the

movement of robotic arms, wheels, and other mechanical components.
• Motor drivers are employed in various automotive applications such as
power windows, windshield wipers, and electric seat adjustments.
• Motor drivers are utilized in industrial automation systems for
controlling conveyor belts, pumps, fans, and other machinery.
• Motor drivers are integrated into household appliances like
washing machines, dishwashers, and vacuum cleaners to regulate

34
 motor operation.
• Motor drivers are used in aerospace applications for controlling
actuators, valves, and other mechanical systems in aircraft and
spacecraft.

Advantages of Motor Drivers:

• Motor drivers enable precise control over motor speed, direction, and
torque, allowing for accurate positioning and movement.
• Motor drivers optimize power usage by controlling the amount of
current supplied to the motor, leading to energy savings.
• Many motor drivers support bidirectional control, allowing motors to
operate in both forward and reverse directions.
• Motor drivers often include protection features such as overcurrent and
over temperature protection to prevent damage to the motor and driver
electronics.
• Motor drivers are available in compact and integrated packages,
making them suitable for applications with limited space constraints.
• Some motor drivers incorporate features to minimize motor noise and
vibration, improving overall system performance and user experience.

5.1.3 Relay

A relay is an electrically operated switch that allows a low-power signal to

control a high-power circuit. It typically consists of an electromagnet (coil),
a movable armature, a spring, and one or more sets of electrical contacts.
When current flows through the coil, it generates a magnetic field that pulls
the armature, either opening or closing the contacts. This enables the relay to
control a circuit without direct mechanical contact, providing electrical
35
isolation between the control and output sides.

Relays are widely used in applications where it is necessary to control a large

amount of electrical power with a small input signal. They are found in many
systems, such as automotive circuits, industrial control panels, home
appliances, and communication devices. Depending on the design, relays can
perform simple on/off control or be used in more complex logic operations
when arranged in networks.
There are different types of relays, including electromechanical relays,
which use physical movement of parts, and solid-state relays, which use
electronic components for switching. Each type has its advantages:
electromechanical relays offer physical contact and feedback, while solid.

Fig 5.3 Relay

The working principle of a relay relies on the concept of

electromagnetism. A relay consists mainly of a coil, an armature, a spring, and
one or more sets of contacts. When a small control voltage is applied to the
coil terminals, current flows through the coil and generates a magnetic field.

36
 As the armature is pulled toward the coil by the magnetic field, it causes
the relay’s contacts to change position. If the contacts were in a normally open
(NO) position, they will close and allow current to flow through the load
circuit. Conversely, if the contacts were normally closed (NC), they will open
and stop the current flow. This allows a relay to control high-voltage or high-
current circuits using a small, low-power control signal— without direct
electrical connection between the two.

When the control voltage is removed, the magnetic field around the coil
disappears, and the spring pulls the armature back to its original position. This
causes the contacts to return to their default state, either opening or closing
the circuit as designed. In this way, a relay operates as an automatic switch,
commonly used in automation systems, motor controls, and protective devices
where electrical isolation and control are essential

Applications of Relay:

• Used to control headlights, fuel pumps, air conditioning, and other high-
current components from low-power switches.
• Employed in vehicles to control lights, fuel pumps, horns, and other
electrical systems
• Relays protect electrical equipment by detecting faults (like
overloads or short circuits) and triggering circuit breakers.
• Used to route signals and manage line switching in network
communication systems.

37
 • Integrated into smart systems to remotely control lighting, fans, or
heating systems based on programmed conditions.

Advantages of Relay:

▪ Provide electrical isolation between control and power circuits.

▪ Operate with low power, making them energy-efficient.

▪ Cost-effective and easily available.

▪ Can switch both AC and DC loads.

▪ Offer reliable and long-lasting performance.

▪ Support multiple contacts for controlling several outputs.

5.1.4 Solar Panel

A solar panel, also known as a photovoltaic (PV) panel, is a device that

converts sunlight into electricity. It is made up of many solar cells, which are
typically composed of semiconductor materials like silicon. When sunlight hits
these cells, it excites electrons, creating an electric current through the
photovoltaic effect. This clean and renewable source of energy has become
increasingly popular as the world seeks alternatives to fossil fuels.

Solar panels come in various types, including monocrystalline,

polycrystalline, and thin-film panels. Each type has its own characteristics in
terms of efficiency, cost, and appearance. Monocrystalline panels, for
instance, are known for their high efficiency and sleek look, while
polycrystalline panels are generally more affordable but slightly less efficient.
Thin-film panels are lightweight and flexible, making them suitable for specific

38
applications like curved surfaces or portable devices.

The performance of a solar panel depends on several factors, including the

amount of sunlight it receives, its orientation, and the presence of shading. To
maximize energy production, solar panels are usually installed on rooftops or
in open areas where they can capture the most sunlight throughout the day.
Some systems also use solar trackers that follow the sun’s path to improve
efficiency.

Solar panels are a key component in residential, commercial, and

industrial solar power systems. They reduce electricity bills, lower carbon
footprints, and require minimal maintenance. As technology advances and
costs continue to drop, solar energy is becoming more accessible, playing a
vital role in the transition to a sustainable energy future.

Fig 5.4 Solar Panel

The working principle of a solar panel is based on the photovoltaic

effect, which is the process of converting sunlight directly into electricity.
When sunlight strikes a solar cell, which is made from semiconductor
materials like silicon, the energy from the light is absorbed by the cell. This
energy excites the electrons in the material, causing them to become free and
move through the material, generating an electric current.

39
 This movement of electrons generates direct current (DC) electricity,
which flows through wires to an inverter. The inverter then converts the DC
electricity into alternating current (AC), which is the standard form of
electricity used in homes and businesses. This AC electricity can be used
immediately, stored in batteries, or fed into the power grid.

To enhance performance, solar panels are often connected in arrays to

increase power output. Additionally, factors like temperature, shading, and
the angle of sunlight can affect efficiency. Despite these variables, the basic
working principle remains the same – capturing sunlight and converting it into
usable electrical energy through the photovoltaic effect.

Applications of solar panel:

▪ Solar panels are widely used in homes to generate electricity, reduce energy
bills, and provide backup power during outages. They can be installed on
rooftops or in backyards.

▪ Businesses and factories use large-scale solar panel systems to power

operations, lower electricity costs, and promote sustainability.

▪ Small solar panels are used in calculators, street lights, garden lights, traffic
signals, and even phone chargers, providing power without the need for
batteries or grid connection.

▪ In rural or off-grid areas, solar panels provide electricity for homes, schools,
hospitals, and communication systems where traditional power sources are
unavailable or unreliable.

40
▪ Solar panels are used in various transport applications such as solar-powered
cars, boats, and even spacecraft, where they provide a lightweight and
renewable source of energy.

Advantages of Solar Panel:

o Solar energy is abundant and sustainable, making it an excellent

alternative to fossil fuels.
o By generating your own electricity, solar panels help lower monthly
utility costs significantly.
o Solar panels require minimal upkeep, usually just periodic cleaning and
occasional inspections. They produce clean energy with no greenhouse
gas emissions, reducing your carbon footprint.
o Solar panels allow individuals and businesses to rely less on the power
grid, especially in areas with unstable electricity supply.

5.1.5 Ultrasonic Sensor

An ultrasonic sensor is a device that measures distance by using sound

waves, operating on the principle of echolocation. It consists of a transmitter,
which emits high- frequency ultrasonic waves, and a receiver, which detects
the reflected waves after they bounce off an object.

The sensor calculates the time taken for the sound waves to travel to the
object and return, using this data to determine the distance based on the speed of
sound in air. The formula used is Distance = (Time × Speed of Sound) / 2,
where the division by two accounts for the round trip of the wave.

41
 .

Fig 5.5 Ultrasonic Sensor

Ultrasonic sensors are widely used in applications such as robotics, obstacle

detection, parking assistance, liquid level monitoring, and automation
systems. Their ability to provide accurate, non-contact distance measurements
makes them a popular choice in various industries, ensuring reliability and
efficiency in diverse environments

Applications of Ultrasonic sensor:

o Ultrasonic sensors are commonly used to measure distances accurately,

such as in parking assistance systems in vehicles.
o Ultrasonic sensors are commonly used to measure distances accurately, such
as in parking assistance systems in vehicles.
o These sensors are used in tanks and silos to monitor the level of liquids or solids
without direct contact.
o ultrasonic sensors help with object detection, counting items on conveyor
belts , and ensuring parts are correctly positioned.
o They are used in motion detection systems to sense movement within a
specific area, triggering alarms or alerts when needed.

42
 Advantages of Ultrasonic Sensor:

• They can detect objects or measure distance without physical contact, making
them ideal for sensitive or hazardous environments.
• Unlike optical sensors, ultrasonic sensors function reliably in complete darkness
or bright light.
• They provide precise distance measurements, even for small or irregularly
shaped objects.
• Suitable for use with solids, liquids, and even transparent materials that are
difficult for other sensors to detect

• Ultrasonic sensors are robust, resistant to dust, dirt, and moisture, which makes
them ideal for industrial and outdoor use.

5.1.6 Motor

A DC motor is an electromechanical device that converts direct current

(DC) electrical energy into mechanical rotational energy. It operates based on
the principle of electromagnetism, where a magnetic field is created by the
interaction of current-carrying coils and permanent magnets.

When current flows through the motor’s armature, it generates a

magnetic field that interacts with the stator’s magnetic field, producing
rotational motion. The speed and direction of a DC motor can be controlled by
varying the applied voltage or using pulse-width modulation (PWM). DC
motors are widely used in robotics, automation, electric vehicles, fans, pumps,
and industrial machinery due to their efficiency, simplicity, and ease of
control

43
 Fig 5.6 Motor

This force creates rotational motion, which can then be used to drive
machinery, appliances, vehicles, and other mechanical systems. Motors come
in various types, including AC (alternating current) and DC (direct current)
motors, each suited for specific applications depending on power requirements
and design.

Motors are widely used in both everyday and industrial applications. In

daily life, they power fans, washing machines, refrigerators, and electric
vehicles. In industrial settings, motors are essential for running conveyor
belts, pumps, compressors, and robotic arms. Their efficiency, reliability, and
ability to provide consistent mechanical power make them a crucial
component in modern technology and automation systems.

Applications of Motor:
o Motors are used in fans, washing machines, vacuum cleaners,
refrigerators, and mixers to perform various mechanical tasks.
o Motors provide the driving force for electric cars, bikes, and scooters,
converting electrical energy into motion.
o Motors power machines like conveyor belts, pumps, lathes, and

44
 compressors in manufacturing and processing industries.
Advantages of Motor:
o Motors convert electrical energy into mechanical energy with minimal
energy loss, making them highly efficient.
o They offer consistent and dependable performance over long periods
with proper maintenance.
o Motors are versatile and can be used in countless devices and systems, from
household appliances to industrial machines.
o Many motors allow for easy adjustment of speed and torque, making them
suitable for various operational needs.

5.1.7 Battery

A battery is an electrochemical device that stores and provides

electrical energy through chemical reactions. It consists of one or more cells,
each containing a positive electrode (cathode), a negative electrode (anode),
and an electrolyte that facilitates the flow of ions. When a battery is connected
to a circuit, chemical reactions occur at the electrodes that generate a flow of
electrons, producing an electric current that powers various devices. Batteries
are widely used in everyday applications, ranging from small electronics like
smartphones to large systems like electric vehicles and power grids.

There are several types of batteries, each designed for specific uses and
with different chemical compositions. Common types include alkaline
batteries, lithium-ion batteries, nickel-cadmium (NiCd), and lead-acid
batteries. Lithium-ion batteries are especially popular in portable electronics
and electric vehicles due to their high energy density, low weight, and
rechargeability. Lead-acid batteries, though heavier, are widely used in
45
automotive applications because of their reliability and cost-effectiveness.

The performance of a battery depends on various factors such as

capacity, voltage, internal resistance, and temperature. Capacity refers to the
total amount of charge a battery can store, usually measured in ampere-hours
(Ah). Voltage is determined by the chemical materials used in the battery and
represents the electrical potential between the terminals. Over time, batteries
degrade due to repeated charge and discharge cycles, which reduce their
efficiency and lifespan. Proper usage, storage, and charging methods can
extend a battery’s life.

Batteries play a crucial role in modern technology and are central to the
advancement of renewable energy systems and portable electronics. With
growing environmental concerns, there is also a push toward developing
greener and more sustainable battery technologies. Research is ongoing to
improve battery performance, safety, and recyclability. Innovations like solid-
state batteries, which replace liquid electrolytes with solid materials, promise
safer and more efficient energy storage solutions in the future.

5.2 SOFTWARE REQUIREMENTS

5.2.1 ARDUINO IDE

46
 Fig 5.7 Arduino IDE

The Arduino Integrated Progress Environment - or Arduino Software

(IDE) - It includes a text editor to write a program, a message field, a text area,
a toolbar which has buttons for a common method and a series of menus. It
connects with the Arduino and Genuino hardware to load the program and
establish communication with them. These sketches are to be written in the
text editor and are saved with the extension. ino
The editor has characteristics for cutting/pasting and for
searching/replacing text. The message area gives information while saving
and also show errors. The console shows text output by the Arduino Software
(IDE), which includes complete error messages and other information. The
lowermost right-hand corner of the window shows the configured board and
serial port. The toolbar buttons allow you to validate and upload programs,
create, open, and save sketches, and open the serial monitor.

The IOT Development opportunity has risen steadily. The internet of things
provides us various features such as control more than just digital objects and
47
also puts forward a new dimension on the internet. Using IOTGecko we can
develop our own IOT based system which can read sensor values, would
operate motorized machines, monitor stuff and can do a lot more. IOTGecko
cloud platform open doors to a new dimension with API support over Arduino,
Microcontrollers, Raspberry Pi, and other controller boards. The IOTGecko
GUI builder brings internet of things programming skills to life and
customized application creator system. By using this open source internet of
things development platform we can make desired IOT systems.

Features

• Efficient GUI Builder

• Process Sensor Values Over IOT

• Operate Motors Over IOT

• 2 Way Communication

• Develop Enterprise Level IOT Systems

• Online Development
Monitor and operate your IOT system with desired GUI using IOTGecko.
Select a wide variety of IOT themes ranging from home automation to liquid
sensing and pollution monitoring.
5.2.2 Embedded C

Embedded C is an extension of the C programming language specifically

designed for developing software for embedded systems. Embedded systems
are specialized computing systems that perform dedicated functions within
larger mechanical or electrical systems, such as microcontrollers, automotive
control units, medical devices, home appliances, and industrial machines.
48
Embedded C provides the tools and capabilities to interact directly with
hardware components like memory, I/O ports, and sensors.

Unlike standard desktop C programming, Embedded C includes additional

keywords, data types, and libraries that help developers control low-level
hardware features efficiently. It supports writing programs that are compact,
fast, and optimized for the limited resources typically found in embedded
systems, such as low memory, limited processing power, and strict real-time
requirements.

Embedded C is widely used with microcontrollers like the 8051, PIC,

AVR, ARM, and STM32. It allows for deterministic control over hardware
operations, making it ideal for time-critical applications. Its simplicity,
portability, and effectiveness have made Embedded C a preferred language in
embedded software development across numerous industries.

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 CHAPTER – 6

RESULT AND DISCUSSION

The Solar Lake Pool Cleaner Robot demonstrated high efficiency in

collecting floating debris such as lves, plastic waste, and other organic matter.
During field tests in a medium-sized pool and shallow lake areas, the robot
covered over 90% of the surface area within 30 minutes. The collection net
attached beneath the robot successfully trapped floating particles without
getting clogged, highlighting the effectiveness of the suction and mesh design.
The emptying, proving the system suitable for daily maintenance tasks.

50
 The robot’s integrated solar panel (rated at 18V/10W) efficiently
charged the onboard battery under standard sunlight conditions (approximately
800–1000 lux). Full charging took around 3 hours and powered the robot for
up to 2 hours of continuous operation. Power consumption was optimized
through smart motor control and intermittent cleaning cycles. Tests showed
that under average daylight conditions, the robot could run entirely on solar
energy, significantly reducing dependence on external charging, thus making
it environmentally sustainable.
Autonomous navigation was enabled using ultrasonic sensors and a
programmed microcontroller. During testing, the robot was able to avoid pool
walls and floating obstacles with a 95% accuracy rate. The ultrasonic sensor
had a detection range of up to 1.5 meters and effectively redirected the robot
upon identifying obstacles. However, occasional misjudgments occurred when
dealing with transparent or semi-submerged objects, suggesting the need for
additional or enhanced sensors in future iterations.
The chassis of the robot, made from waterproof acrylic and sealed
components, demonstrated excellent resistance against water ingress. All
electronics remained fully functional even after 10 hours of continuous operation
across multiple tests. The IP67-rated casing for the motor and control board
ensured durability in water-based environments. This confirms that the structural
and sealing design is adequate for long-term deployment in lake and pool
environments.
One of the major highlights of this project is its contribution to
environmental protection. The solar-powered mechanism eliminates the use of
fossil fuels, and the robot helps reduce plastic and organic pollution in lakes and
pools. By automating the cleaning process, the robot supports maintenance of
water bodies without manual labor or chemical usage. affordable clean energy
51
 CHAPTER 7

CONCLUSION

7.1 CONCLUSION

The RC Solar Lake Pool Cleaner Robot is a sustainable and efficient

cleaning solution that leverages solar energy to maintain water bodies with
ease. By combining automation, remote control functionality, and eco-friendly
energy sources, this robotic cleaner minimizes labor and operational costs while
promoting environmental conservation. Its ability to operate autonomously
makes it a valuable tool for pool owners, lake management authorities, and
water conservationists, ensuring a clean and pollutant-free aquatic
environment.

The mechanical design, developed using SolidWorks, ensures a stable and

functional floating platform equipped with motors for movement and a waste
collection mechanism. Meanwhile, the electronic circuit, simulated in Proteus
and controlled via Arduino, enables precise remote operation, allowing users to
guide the robot through affected areas. This integration of mechanical and
electronic systems not only makes the robot user-friendly but also adaptable for
different environments, including lakes, ponds, and pools.

Overall, this project demonstrates a practical approach to modern aquatic

waste management. With potential enhancements such as GPS tracking,
autonomous navigation, and real-time water quality monitoring, the robot can be
developed further into a fully autonomous system. It serves as a valuable
step toward sustainable environmental conservation and technological

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 7.2 FUTURE WORKS

• Autonomous Operation: One of the major future improvements is the

addition of autonomous functionality. By integrating GPS modules and
sensors such as ultrasonic or infrared, the robot could independently navigate
across water bodies without the need for remote control. This would make the
system more efficient and suitable for long- term operation in larger lakes or
ponds.
• AI-Based Waste Detection: Implementing computer vision and AI algorithms
could enable the robot to detect and differentiate between various types of
waste. A camera module paired with image processing software could guide
the robot to target highly polluted areas, improving the efficiency of the
cleaning process.
• Water Quality Monitoring: The robot can be equipped with sensors to monitor
water quality parameters such as pH, temperature, turbidity, and dissolved
oxygen. This would allow for real-time environmental analysis alongside
waste removal, making the bot a dual-purpose device for both cleaning and
data collection.
• IoT Integration: Internet of Things (IoT) capabilities could be introduced to
connect the robot to a cloud server. Through this, operators could receive live
data, status updates, and notifications. IoT integration would also allow
remote diagnostics, performance tracking, and control via a web or mobile
application.

53
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