SOLAR LAKE POOL CLEANER ROBOT

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

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 ANNA UNIVERSITY: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this project report "SOLAR LAKE POOL CLEANER

ROBOT" 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 M.E.,Ph.D., DR.N.SIVAGURUMANI-

KANDAN 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 would like to thank the teaching and non-teaching staff members

rendered their timely help to complete this project work in 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 waste.
 TABLE OF CONTENTS

CHAPTER TITLE PAGE

NO NO

ABSTRACT V

LIST OF FIGURES VIII

1 INTRODUCTION 1
1.1 INTRODUCTION 1

1.2 EXISTING SYSTEM 2

1.3 PROPOSED SYSTEM 5

1.4 BACKGROUND OF THE STUDY 7

1.5 PROBLEM STATEMENT 8

1.6 AIMS AND OBJECTIVES 10

1.7 SCOPE 11

1.8 BLOCK DIAGRAM 13

1.9 BLOCK DIAGRAM DESCRIPTION 13

2 HARDWARE DESCRIPTION 14
2.1 CIRCUIT DIAGRAM 14
 2.2 LITERATURE REVIEW 15
2.3 HARDWARE SUBSYSTEMS 19

2.3.1 ARDUINO UNO MICROCONTROLLER 20

2.3.2 MOTOR DRIVER 26

2.3.3 RELAY 30

2.3.4 SOLAR PANEL 33

2.2.5 ULTRASONIC SENSOR 36

2.2.6 MOTOR 38

2.2.7 BATTERY 40

3 SOFTWARE DESCRIPTION 42
3.1 ARDUINO IDE 42

3.2 CODE 44

3.3 RESULT 53

3.4 ADVANTAGES 54

3.5 LIMITATIONS 55

4 CONCLUSION 57
4.1 CONCLUSION 57

4.2 FUTURE WORKS 58

REFERENCES 60
 LIST OF FIGURES

FIGUR DESCRIPTION PAG

E E
NO NO
1.1 BLOCK DIAGRAM 13

2.1 CIRCUIT DIAGRAM 14

2.2 ARDUINO UNO BOARD 21

2.3 ARDUINO ARCHITECTURE 22

2.4 PIN CONFIGURATION 23

2.5 MOTOR DRIVER 26

2.6 RELAY 31

2.7 SOLAR PANEL 34

2.8 ULTRASONIC SENSOR 36

2.9 BATTERY 35
3.1 ARDUINO (IDE) 42
 CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION

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

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also enhances the precision, speed, and effectiveness of the 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.

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 1.2 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 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.

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 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 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

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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.

Disadvantage:

▪ Environmental Impact
▪ Maintenance Challenges
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 ▪ Limited Coverage

1.3 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 collect debris while maintaining a solid and
stable position on the water surface.

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 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 of the water play a significant role in
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navigation. 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.

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

1.4 BACKGROUND OF THE STUDY

Water bodies such as lakes, rivers, and ponds play a vital role in maintaining
ecological balance and supporting biodiversity. However, increasing urbanization,
industrialization, and human negligence have led to widespread pollution of these
water sources. The accumulation of plastic waste, floating debris, and aquatic
weeds not only degrades the aesthetic value of these water bodies but also poses
serious threats to aquatic life and water quality. This contamination disrupts the
natural ecosystem and reduces the usability of water for domestic and agricultural
purposes.

In India, the problem of water pollution is particularly pressing due to the

population density and the growing strain on natural resources. The
government’s initiatives like the Swachh Bharat Abhiyan (Clean India
Mission) and Smart Cities Mission emphasize the need for sustainable urban
development, including efficient waste management systems. One of the key
challenges in implementing these initiatives is the control of aquatic waste in both
urban and rural water bodies. Manual methods of cleaning are labor-intensive,
time- consuming, and often inefficient in covering large or difficult-to-access
areas.

Technological intervention through automation and robotics offers a promising

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solution to address this challenge. The development of robotic systems for surface
waste collection can significantly improve the efficiency of water body
maintenance. Such systems can operate continuously, cover large areas, and
reduce human effort and exposure to polluted environments. Automation also
ensures consistency in waste removal, which is difficult to achieve through manual
labor alone.

This study proposes the development of a lake cleaning robot that can
autonomously or remotely collect floating waste and deposit it in a storage
container. The design incorporates mechanical and electronic components to
achieve smooth operation in aquatic environments. Using SolidWorks for
structural design and Proteus for circuit simulation, the project integrates
Arduino-controlled motors to enable navigation and waste collection. This multi-
disciplinary approach combines engineering design, embedded systems, and
environmental sustainability.

The outcome of this project is expected to contribute to cleaner water bodies

and demonstrate a scalable solution for aquatic waste management. By automating
the cleaning process, this robotic system could be implemented in lakes, ponds,
and rivers across the country, supporting India's broader goals of sustainability and
smart urban infrastructure. Ultimately, this work aims to bridge the gap between
technology and environmental conservation through an innovative, practical, and
eco-friendly approach.

1.5 PROBLEM STATEMENT

Water pollution caused by floating waste such as plastics, weeds, and general
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garbage has become a growing concern in many parts of the world, particularly in
developing countries like India. With the rapid pace of urbanization and poor waste
disposal practices, water bodies such as lakes, ponds, and rivers are increasingly
being choked by non-biodegradable waste. This accumulation of surface waste not
only threatens aquatic life but also affects the quality of water and the overall health
of the ecosystem. Despite awareness of the issue, effective and consistent waste
removal from the surface of water bodies remains a significant challenge.

Currently, the majority of aquatic waste management in India relies on manual

labor, which is not only labor-intensive but also inefficient and unsafe. Manual
cleaning is limited by human endurance and is often impractical in large or heavily
polluted water bodies. Furthermore, manual methods are inconsistent and
unsustainable for long-term implementation, especially in remote or hazardous
areas. This leads to irregular cleaning schedules, leaving water bodies exposed to
prolonged pollution.

There is a clear lack of cost-effective, automated solutions that can assist or

replace manual waste collection efforts in water bodies. Although advanced robotic
technologies are available in some parts of the world, they are often expensive,
complex, and not tailored to the specific needs and environments found in India.
Therefore, there is an urgent need for a localized, affordable, and efficient system
that can operate in Indian water conditions and address surface waste collection in
a scalable manner.

This project addresses the problem by proposing an solar lake pool cleaner

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 remote controlled robot that can navigate water surfaces and collect floating waste
efficiently. The robot will be designed using SolidWorks for mechanical structure
and Proteus for electronic circuit simulation, with an Arduino-based control system
to manage movement and collection. The goal is to create a working prototype
that can serve as a practical solution for aquatic
waste removal, reducing human effort and contributing to environmental
cleanliness in alignment with the goals of Smart Cities and the Swachh Bharat
Abhiyan.

1.6 AIMS AND OBJECTIVES

The primary aim of this project is to design and develop an solar lake pool
cleaner remote controlled robot capable of collecting floating waste from the
surface of water bodies such as lakes, ponds, and rivers. This system is intended
to address the growing problem of water pollution caused by solid waste,
particularly plastics and organic debris, by providing an efficient and eco-friendly
solution. By integrating mechanical design and electronic control systems, the
project seeks to create a prototype that can perform waste collection operations
with minimal human intervention.

One of the main objectives is to develop a robust mechanical structure using

CAD software such as SolidWorks. This includes designing the body of the robot,
waste collection mechanism, buoyancy features, and the waste storage
compartment. The design must ensure that the robot remains stable and functional
on water surfaces while effectively collecting and storing floating waste materials.

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 Another important objective is to build and simulate the electronic control
system using Proteus and Arduino. The control system will include motor drivers,
sensors (if required), and a microcontroller (Arduino) to manage the movement of
the robot and the operation of the waste collector. The system should be capable
of being operated autonomously or via remote control, depending on
environmental requirements and future scalability.

The project also aims to implement a working prototype that can be tested in a
controlled environment, such as a small pond or artificial water body. Testing will
focus on evaluating the robot’s ability to navigate the water surface, collect
different types of waste, and effectively deposit them in the onboard storage tub.
Observations will help refine the mechanical and
electronic design for better performance and efficiency.Finally, the project seeks to
contribute to the broader mission of clean and smart cities by offering a scalable, low-
cost solution for aquatic waste management. The long-term objective is to support
environmental sustainability and reduce the burden on manual labor in waste cleaning
operations. If successfully implemented, the system can be adapted for use in various
water bodies across urban and rural regions, enhancing the impact of government
cleanliness drives and ecological conservation efforts.

1.7 SCOPE AND PURPOSE OF SYSTEM SPECIFICATION

The purpose of this system specification is to define the technical and

functional requirements for the development of an solar lake pool cleaner remote
controlled robot designed to collect and remove floating waste from the surface of
water bodies. The system aims to contribute to sustainable aquatic waste
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management by automating the collection process, thereby minimizing human
intervention and ensuring regular, efficient cleaning of lakes, ponds, and rivers.
This specification outlines the components, design tools, and operational
parameters required to implement a functional prototype.

The scope of the system includes the mechanical design of the robot structure
using SolidWorks, covering aspects such as the floating platform, waste collection
mechanism, and onboard storage tub. The robot must be able to float steadily on
water, navigate across the surface, and collect various types of waste, such as
plastics, leaves, and floating debris. The collection system may include rollers,
rotating arms, or conveyor-like structures to guide the waste into the storage
compartment at the back of the robot.

On the electronic and control side, the scope includes developing a circuit
using Proteus simulation software and programming an Arduino
microcontroller to manage the motion of the robot and the operation of its
collection mechanism. Motors will be used to power both the movement of the
robot and the collection system. Depending on future expansion, sensors such as
ultrasonic or water quality sensors could be integrated for navigation or monitoring
purposes, but the initial prototype will focus on basic motion and waste pickup
functionalities.

This system is intended to be used primarily in still or slow-moving water

bodies, such as urban lakes, ponds, and artificial reservoirs, where surface waste
accumulation is common. It is not designed for high-flow rivers or heavily

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turbulent waters in its initial phase. The robot will be tested under controlled
conditions to assess its efficiency, maneuverability, and reliability. Future scope
may include solar power integration, GPS navigation, or remote control via mobile
apps for more advanced applications.

In summary, the purpose of this system specification is to serve as a blueprint for

designing and developing a functional robotic solution for surface waste removal.
It defines the limitations, tools, components, and expected outcomes of the project.
This scope provides a clear direction for the project's development phases, ensures
all necessary components are considered, and lays the foundation for future
enhancements in creating scalable, smart aquatics
1.8 BLOCK DIAGRAM

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 Fig. 1.1 Block Diagram

1.8 BLOCK DIAGRAM DESCRIPTION

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.

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 CHAPTER 2

HARDWARE DESCRIPTION

2.1 CIRCUIT DIAGRAM

Fig. 2.1 Circuit Diagram

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 2.2 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. Solar
energy is utilized to power the motor and electronic circuits. Remote monitoring is
23
achieved through a GSM module. The system was successfully deployed in a 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
24
brush underneath. A small onboard solar panel charges the battery during
operation. The range of the RF remote is approximately 30 meters. The 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)

25
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 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.

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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 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
27
cleaning. It emphasizes modularity for future upgrades.

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.

2.3 HARDWARE SUBSYSTEMS

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

controlled robot Using Arduino:

• Arduino Uno
• Solar Panel
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 • Ultrasonic Sensor
• Battery
• Relay
• Motor
• Motor driver

2.3.1 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-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

29
(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
regulator may overheat and damage the board. The recommended range is
s7 to 12 volts. The Atmega328 has 32 KB of flash memory for storing
code (of which 0.5 KB is used for the boot loader); It has also 2 KB of
SRAM and 1 KB of EEPROM (which can be read and written with the
EEPROM library).

Fig 2.3.1 Arduino UNO Board

30
 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)

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 • In-circuit Serial Programmer (blue-green)
• Analog In Pins 0-5 (light blue)
• 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)

Fig Pin Configuration

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.
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• 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 SPI
communication, which, although provided by the underlying
hardware, is not currently included in the Arduino language.

33
 • 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.

• 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
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 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.
2.3.2 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.

35
 Fig 2.3.2 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 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
36
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.

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

37
 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
38
 washing machines, dishwashers, and vacuum cleaners to
regulate 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.

2.3.3 Relay
39
 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
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-
state relays provide faster switching and longer life due to the absence of
moving parts.

40
 Fig 2.3.3 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. This
magnetic field is strong enough to attract the armature, which is a movable metal
lever positioned near the coil.

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

41
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.
• Integrated into smart systems to remotely control lighting, fans,
or heating systems based on programmed conditions.

Advantages of Relay:
42
 ▪ 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.

2.3.4 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 applications like curved
surfaces or portable devices.

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

43
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 2.3.4 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.

Each solar cell consists of two layers of silicon – a positively charged layer
44
(p-type) and a negatively charged layer (n-type) – which together create an
electric field. When sunlight hits the cell, the photons (light particles) knock
electrons loose from atoms in the silicon. The electric field created by the two
layers pushes these free electrons toward metal contacts on the cell, directing the
flow of current.

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

45
 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.

▪ 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.

46
 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.

2.3.5 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.

Fig 2.3.5 Ultrasonic Sensor

47
 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:

▪ Ultrasonic sensors are commonly used to measure distances accurately,

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

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
48
 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.

2.3.6 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

49
 Fig 2.3.6 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:
▪ Motors are used in fans, washing machines, vacuum cleaners, refrigerators,
and mixers to perform various mechanical tasks.
▪ Motors provide the driving force for electric cars, bikes, and scooters,
converting electrical energy into motion.
▪ Motors power machines like conveyor belts, pumps, lathes, and
compressors in manufacturing and processing industries.

50
Advantages of Motor:
▪ Motors convert electrical energy into mechanical energy with minimal
energy loss, making them highly efficient.
▪ They offer consistent and dependable performance over long periods
with proper maintenance.
▪ Motors are versatile and can be used in countless devices and systems, from
household appliances to industrial machines.
▪ Many motors allow for easy adjustment of speed and torque, making them
suitable for various operational needs.
2.3.7 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
51
their high energy density, low weight, and rechargeability. Lead-acid batteries,
though heavier, are widely used in 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.

52
 Fig 2.3.8 Battery

Adavntages of Battery:

• Portability

• Rechargeability

• Reliable power supply

• Environmentally friendly options

• Instant power availability

53
 CHAPTER 3

SOFTWARE DESCRIPTION

3.1 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
54
 Fig 3.1 Arduino (IDE)
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 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

55
 • 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.

3.2 CODE

3.3 RESULT

The prototype of the solar-powered lake cleaning robot was successfully

modeled using SolidWorks and its electronic circuit was simulated using Proteus
software. The robot’s structure featured a floating base, solar panel mount, debris
collector, and rear-mounted waste container. The design proved to be stable on
water surfaces during initial testing, maintaining buoyancy even under moderate
load conditions. The integration of the skimmer mechanism with front-mounted
rotating arms was effective in guiding floating debris into the collection
compartment as the robot moved forward.

During controlled testing in a simulated pool environment, the Arduino-based

control unit demonstrated reliable performance in managing motor functions and
power distribution. The robot was able to respond to remote control inputs via
Bluetooth, allowing precise maneuverability to target specific debris zones. The

56
DC motors provided sufficient thrust for movement in multiple directions, and the
debris collector could gather floating waste such as leaves, paper, and small plastic
items. Solar panels provided adequate charging under sunlight, with the battery
backup supporting operations in low-light conditions.

The performance of the robot under real-time conditions indicated its practical
viability for surface waste removal. However, factors such as wind speed,
floating weed density, and uneven water surfaces posed challenges to consistent
movement and collection efficiency. While the robot could effectively clean a
small to medium-sized pond or lake area, it was found that collection efficiency
decreases if the waste is submerged or trapped in vegetation. Therefore, the current
design is best suited for surface-level cleaning and may require design
enhancements for tackling submerged or sticky waste.

Overall, the project validated the concept of using solar-powered autonomous

systems for aquatic waste management. It offers a low-maintenance,
environmentally friendly solution for regular cleaning of stagnant water bodies.
Future improvements could include autonomous path navigation using ultrasonic
or GPS sensors, integration of IoT-based monitoring for water quality, and scaling
the design for larger water bodies. This project supports India's mission for cleaner
cities and has the potential for deployment in parks, reservoirs, and public lakes
across urban and rural areas.

3.4 ADVANTAGES

o Utilizes solar energy as the primary power source, reducing

57
 dependency on electricity or fossil fuels and lowering carbon
emissions.
o Successfully collects floating waste like plastic, leaves, and
paper, 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.

3.5 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.
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• 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 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 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,

59
 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.

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 CHAPTER 4

CONCLUSION

4.1 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
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sustainable environmental conservation and technological advancement in waste
management systems.

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4.2 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.
• Mobile Application Development: A dedicated Android or iOS app could be
developed for easier control and monitoring. Features like joystick-based
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navigation, battery level display, real-time camera feed, and route mapping
could enhance the user experience and allow more intuitive control over the
robot.

64
• Solar Optimization: To improve power efficiency, the solar charging system
could be enhanced with advanced solar tracking mechanisms or MPPT
(Maximum Power Point Tracking) controllers. These systems would ensure
maximum energy extraction from the sun throughout the day, increasing the
robot’s runtime.
• Advanced Waste Collection Mechanism: Future models could include an
automated conveyor or robotic arm system that can lift and sort waste based
on size or material type. This would enhance the robot’s ability to manage
different kinds of surface waste and streamline the unloading process.
• Weather-Resistant and Rugged Design: Upgrading the robot with better
waterproofing, corrosion resistance, and weatherproof casing would allow it
to operate in more challenging environments and for extended periods,
regardless of climatic conditions.
• Modular and Scalable System Design: Future iterations can adopt a modular
design where multiple robots work collaboratively in larger water bodies.
These bots could be networked together and communicate via a central
control unit, covering larger areas more efficiently.
• Eco-Friendly Waste Disposal System: Lastly, a significant improvement
could be made by integrating the robot with a smart docking and disposal
station. This station could allow the robot to automatically unload collected
waste into designated bins for recycling or proper disposal, making the entire
process more sustainable and less dependent on human intervention.

65
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