RHONDA – The solar powered automated vacuum garbage collector

A Research Paper

Presented to

Moreno Integrated School

Junior High School Department

Daet, Camarines Norte

In Partial Fulfillment of

The Requirements in

Research IV

Dionne P. Laborte

Brian B. Villania

Prisila E. Tuazon

Elaine R. Villablanca

Ashley Shane P. Retiro

Aira Kathrine S. Barquilla

Acely Marie T. De Guzman

Mrs. Senen Rafael

Adviser

June 2023
Table of contents

Background of the Study....................................................................................................2

Statement of the Problem....................................................................................................2

Significance of the Study.....................................................................................................4

Scope and Delimitation.......................................................................................................5

Preparation of Materials......................................................................................................5

Code of Rhonda Robot........................................................................................................6

Assembling the Robot.........................................................................................................11

Testing the Robot.................................................................................................................11

Data Collection and Interpretation.......................................................................................13

Conclusion ..........................................................................................................................14

Abstract................................................................................................................................15

Recommendation.................................................................................................................15
 INTRODUCTION

Background of the study

A clean environment is important in our daily lives. Vacuuming plays an important role in

this regard. Vacuuming is a once-a-week activity for individuals, both indoors and outdoors. It is

generally considered to be an important activity with respect to the cleanliness of indoor and

outdoor environments, but it may lead to short-term re-suspension of particulate matter and

elevated particle mass in indoor and outdoor air because re-suspended particles often contain

intoxicants, such as lead and pesticides, or biological agents that can trigger allergic reactions. It

is important to have a better understanding of the role of vacuuming in short-term variations in

indoor and outdoor particulate matter concentrations (Richard L. Corsi et al., J Occup Environ

Hyg.). But due to the limited capacity and time, this cleaning method cannot be done effectively

in every area. Considering the need for automated cleaning using less manpower and time, we

developed a solar-operated vacuum cleaner that can be used for outdoor and indoor cleaning. The

machine consists of a solar panel mounted on its top and a battery unit that can be used to power

the entire machine. The electricity generated using the solar panel is stored in the battery, which

can be used to provide energy to operate the motor. The machine is made smart by including

sensors for the bin-indicating system and obstacle detection. Though the initial cost of this

machine is slightly higher, it can be considered a good alternative for indoor and outdoor

cleaning. (Jahida Khan, 2021) Waste management has become a big issue in a society where

waste can easily be ignored and neglected. This situation becomes worse when the world

population grows rapidly and improper waste management systems are not addressed. Solid

waste management is considered a pressing global issue that calls for an immediate response

from the government and its people. The Philippines has a continuously rising amount of waste,
which is expected to further increase in the succeeding years. As reviewed, associated problems

with solid waste management in the country include an increasing amount of solid waste, weak

law implementation, a scarcity of sanitary landfills, and improper disposal. The ultimate solution

existing in the country is Republic Act 9003, or the Ecological Solid Waste Management Act of

2000, which highlights the practices of segregation, proper disposal, and waste diversion. The

importance of envisioning a trash-free Philippines and encouraging people’s participation and

awareness is also emphasized. Another possible solution to solid waste management is

vaporization, which can also address other environmental problems such as the depletion of

natural resources. These solutions enumerated will only be possible with the presence of good

governance, the active participation of the people of the country, and the cooperation of all

constituents and agencies in the Philippines. (Abdel-Shafy, H., and Mousour, M. (2018)) Solid

waste issues: sources, compositions, disposal, recycling, and vaporization.

Statement of the Problem

The researchers aimed to determine the ability of the Rhonda Robot to collect garbage while

avoiding the obstacles that Rhonda may encounter.

Specifically, it aims to answer the following questions;

1. What are the features of the proposed Rhonda?

2. How efficient and effective is Rhonda in terms of:

a. Collecting garbage

b. Avoiding obstacle.
 3. What is the general acceptability of Rhonda the solar powered automated vacuum

garbage collector in terms of:

a. Design;

b. Usability; and

c. Appropriateness

Significance of the Study

This research aimed to provide an effective way of collecting while individuals are occupied

with something else, or alternative help for those who need to sweep outside or inside making it

more convenient for individuals to clean.

Street sweepers. Cleanliness is an important aspect of our daily lives. Street sweepers play an

important role in this regard. Flu, cough, eye irritation, rash, skin irritation, diarrhea, stomach

upset, and eye disease are common issues among street sweepers. As a result of this research,

street sweepers will be less likely to contract this type of illness since they are not eposed to

wastes or garbages that are harmful for their health.

Efficient Debris Cleanup. Vacuum cleaners are quite good at getting dirt, dust, and other tiny

particles off of different surfaces. Utility employees frequently come into encounters with small

debris, such as leaves and dirt, while performing their duties, and Rhonda can assist them fast

and efficiently collect up the waste at the area.

Versatility. Although there are many other sorts of vacuum cleaners, including handheld,

backpack, and industrial models, In this research researchers invented an automated solar

powered vacuum cleaner. Utility personnel have a choice to select the variant that best suits their
unique tasks thanks to these modifications. For instance, a automated solar powered vacuum

collector can be beneficial for collecting waste at rooms, hallway, and athletic fields also Rhonda

can handle more extensive cleanup jobs.

Improved Air Quality. Utility workers may be required to do their duties in places with poor air

quality, such as building sites, utility trenches, or locations with a lot of dust on the floor or

particulate matter. By removing airborne particles, using a Rhonda with filtration systems can

improve indoor and outdoor air quality and lower the risk of respiratory problems in workers.

Time and Cost Savings. Utility personnel can finish cleanup jobs more quickly and with less

effort by employing Rhonda. They may be able to concentrate on other crucial areas of their

work as a result, which could enhance productivity. Additionally, using a vacuum collector might

make it unnecessary to sweep manually, reducing the physical strain on workers and perhaps

even lowering labor costs.

Safety Enhancement. The use of Rhonda can help to keep the workplace safe. They lessen the

possibility of slips, trips, and falls by collecting the work area of debris, loose objects, or

dangerous substances.

Equipment Maintenance. Utility employees frequently use specialized equipment that needs

regular maintenance in order to operate at its best. By eliminating dirt like dust, grime, and other

particles that may build up over time, Rhonda can help with cleaning and preserving this

equipment. Equipment's performance can be enhanced and its lifespan can be increased with

regular cleaning.
People. Cleaning takes a lot of time, so using Rhonda it will help people spend less time

collecting waste. In order to maximize the benefits and ensure safety in their working

environment.

Future Researcher. It can help the other researcher’s to gather additional ideas and information

that they may need as references. This research will help them to improve their project at their

most innovative ways.

Scope and Delimitations

The robot's primary function is to efficiently perform collecting tasks. It should have the

capability to effectively collect waste. The robot is equipped with sensors or vision systems to

detect obstacles in its path. It should be able to identify objects such as furniture, walls, and other

barriers that might impede its movement. The robot is programmed to avoid collisions with

detected obstacles. It should either stop, change its path, or find an alternative route to bypass the

obstacle safely. The robot's collecting ability will depend on its size, battery life, and dustbin

capacity. The waste that can be absorbed by the Rhonda Robot cannot be segregated, and the

vacuum has a limited capacity for waste absorption.

Preparation of materials

The researchers aims to develop a solar-powered automated vacuum garbage collector that can

efficiently and autonomously collect waste in outdoor environments. This document provides a
detailed description of the materials required for the successful implementation of the research

project.

Vacuum Garbage Collection Unit: High-capacity waste collection bin. A sturdy and spacious

container capable of holding a significant amount of garbage. Vacuum system, A powerful

suction mechanism capable of efficiently collecting various types of waste. Dust filter, A filter

that prevents debris and dust particles from escaping the collection unit. Sealing mechanism,

Airtight seals to ensure proper containment of the waste within the unit. Sensors and actuators,

Proximity sensors, obstacle detection sensors, and motorized actuators to facilitate autonomous

navigation and waste collection. Batteries, Rechargeable batteries to store solar energy for

powering the unit.

Solar Power System: Solar panels: Photovoltaic panels to convert sunlight into electrical energy.

The number and wattage of the panels depend on the power requirements of the vacuum garbage

collector. Charge controller, A device that regulates the flow of electrical energy from the solar

panels to the batteries, preventing overcharging and optimizing efficiency. Battery bank, A set of

deep-cycle batteries capable of storing and delivering electrical energy to power the vacuum

garbage collector. Inverter, Converts the DC power stored in the batteries into AC power for

operating the vacuum system, sensors, and other electrical components. Control and

Communication: Microcontroller: A programmable microcontroller board (e.g., Arduino ) to

control the overall operation of the garbage collector, process sensor data, and execute decision-

making algorithms. Motor controllers, Electronic modules to control the movement of motors

used in the vacuum system and actuators. User interface, A display screen, buttons, or touch

interface for configuring settings and monitoring the operation of the garbage collector.

Mechanical Components: Chassis, A robust and lightweight frame to house the vacuum garbage
collection unit and provide structural support. Wheels or tracks, Mobility components for

traversing different terrains. Motorized wheels, Motors and motor controllers for propulsion and

steering. Additional Components, Mounting brackets and fasteners: Hardware for securely

attaching components to the chassis. Cables and wiring, Electrical cables and connectors to

interconnect the various components of the system. Safety Equipment, Emergency stop button A

prominent button to immediately halt the operation of the garbage collector in case of any

unforeseen hazards. It is essential to ensure that the chosen materials are durable, energy-

efficient, and compatible with the desired specifications and objectives of the solar-powered

automated vacuum garbage collector.

 Table 1. Materials Used

Quantity Materials Purpose

4 Ultrasonic Sensor Determines the distance of an object just like the

bats do. It offers excellent non-contact range

detection with high accuracy and stable readings.

1 Arduino Uno Initiate program from the code uploaded.

1 12v dynamo Converts the energy generated by the wheel spinning

to electrical energy.

4 Wheels To move or to support the device.

1 Vacuum Collect the wastes through its high suction power

1 Plywood Serves as the frame of the robot.

1 Solar Collects energy from the sunlight.

1 12v Battery The robot needs power to provide the voltage that

makes the motors turn.

1 Inverter Regulates voltage.

25 Jumper Wires Used to connect the sensors to Arduino uno.

1 Relay circuit board Relays functions in essentially the same way, one

circuit is used to power another.

1 Chicken Wires To reduce the weight of the robot so the Researchers

replaced it with chicken wires.

The table above shows the list of materials with their corresponding quantity and their own

purposes in the robot. Each material has their own purpose and function to enable the robot to

collect garbage while also avoiding a series of obstacle that the robot might encounter.

Table 2. Arduino Codes used to program Rhonda

Code Purpose/Function

Define - allows the programmer to give a name to

a constant value before the program is compiled

Int - primary data-type for number storage or

defining a quantity that will be kept in memory,

and you can change it

void setup - code that you put inside void setup()

will only run once, and that will be at the

beginning of your program

pinMode - to configure a specific pin to behave

either as an input or an output

digitalWrite - to write a HIGH or a LOW value to

a digital pin

serial monitor is the 'tether' between the computer

and your Arduino - it lets you send and receive

text messages, handy for

debugging and also controlling the Arduino from

a keyboard serial print display information to

your computer's monitor

 void loop - code will repeat over and over again

or executes indefinitely until you power off the

Arduino

Delay - tells the Arduino to wait for the

milliseconds specified inside the brackets.

Duration - store the length of time ultrasonic

reacts

Table 2 shows the Arduino codes programmed by the Researchers and uploaded it on Arduino

Uno which serves as the command the functions allow a programmer to divide a specific code

into various sections, and each section performs a particular task.

Assembling the Robot

Gather all the required materials and tools, including the robot base, vacuum cleaner, sensors,

battery, microcontroller, motor system, wheels, solar cleaning mechanism, and control software.
Start by attaching the wheels to the robot base, ensuring they are secure and aligned for smooth

movement. Install the sensors according to their specifications, considering their placement for

effective obstacle detection and navigation. Connect the motor system to the wheels, ensuring

they are securely attached and aligned correctly. Attach the vacuum cleaner component to the

robot base, ensuring a proper seal and connection for efficient suction. Connect the

microcontroller or processor to the necessary components, such as the sensors, motor system,

and battery. Follow the manufacturer's instructions for wiring and connections. Install the

battery securely on the robot base, ensuring it provides sufficient power and is connected to the

microcontroller. Mount the cleaning mechanism, such as brushes, on the vacuum cleaner

component. Place the microcontroller in the designated enclosure or attach it securely to the

robot base. Install the control software on the microcontroller and configure the necessary

settings for the robot's operation. Lastly, install the solar power to the inverter to regulates

voltage. Double-check all the connections

Testing the robot

The researchers had placed a set of garbage in front of the Rhonda Robot and allowed it to

collect the waste. They closely monitored the robot's actions and recorded the duration it took to

complete each waste collection task. To evaluate the robot's performance in terms of data

collection and obstacle detection, the researchers conducted three test iterations, each with a

distinct garbage collection task. Each iteration involved a starting point, a specific amount of

garbage to collect, and a designated garbage collection point. In order to introduce variability, the

placement of obstacles was randomized for each iteration. Throughout each test run, the

researchers observed the robot's performance and noted the time taken to accomplish the waste
collection assignment. They also evaluated the robot's ability to identify obstacles, plan collision-

free pathways, and effectively avoid them while collecting garbage.

During the first test iteration, the researchers assigned a garbage collection task to Rhonda

Robot. They determined a starting point near a garbage. Throughout the test run, they observed

the robot's ability to detect barriers, plan optimal pathways that avoided collisions, and

efficiently collect the garbage.

The researchers recorded the time taken to complete the task and noted Rhonda Robot's

impressive obstacle detection and avoidance capabilities.

For the second test iteration, the researchers devised a different garbage collection task for

Rhonda Robot. They set up a starting point in a separate location, and the waste to be collected.

Once again, the researchers randomized the obstacle placement to introduce variability. During

this test run, they closely monitored the robot's performance in terms of obstacle detection, path

planning, and garbage collection efficiency. Rhonda Robot showcased its ability to identify

obstacles, calculate collision-free paths, and successfully navigate through the cluttered

environment while efficiently collecting the garbage. The researchers carefully recorded the time

taken for completion and observed the robot's improved performance in handling diverse types

of waste and obstacles.

In the third and final test iteration, the researchers presented a more complex garbage collection

task to Rhonda Robot. They positioned the starting point near a garbage. Once again, the

obstacle placement was randomized to add complexity to the task. Throughout this test run, the
researchers paid close attention to the robot's obstacle detection capabilities, its planning of

collision-free pathways, and its overall efficiency in garbage collection. Despite the increased

complexity of the task, Rhonda Robot demonstrated exceptional skills in detecting obstacles,

planning intricate paths, and avoiding collisions while effectively collecting the waste. The

researchers documented the time taken to complete the task and noted the robot's outstanding

performance in handling diverse waste types and navigating complex environments.

Based on the data collected from the three test iterations, the researchers evaluated Rhonda

Robot's performance. They concluded that the robot exhibited impressive abilities in obstacle

detection, planning collision-free pathways, and efficiently collecting garbage. Its adaptability to

different types of waste and its capacity to navigate complex environments showcased its

potential for real-world applications in waste management.

Data Collection

Table 3. Efficiency of Rhonda robot in terms of collecting garbage

Trial Time No. of Garbage collected

1 6,46 s. 15/16

2 5.60 s. 8/16

3 6.44 s. 13/16

Ave. 6.16 s. 12/16

The table displays the amount of garbage collected and the time it took to gather it. The data

demonstrates that shorter collection times result in less waste being generated, while longer

collection time result in more garbage being generated. There is a significant difference between

testing the robot in time and the number of garbage collected.

Table 4. Efficiency of Rhonda robot in terms of detecting an obstacle

Trial Distance of the obstacle Time to detect the obstacle

1 50/180 cm 3.18 s.

2 68/180 cm 4.13 s.

3 60/180 cm 3.26 s.

Ave. 59/180 cm 3.52 s.

The table shows the distance between the obstacle and the time it takes for the Rhonda robot to

detect it. According to the data, the closer the obstacle, the faster the robot recognizes it.

Table 5. Acceptability of Rhonda robot in terms of Design.

 Acceptability in Descriptive Interpretation in Terms of Design

Trial Convenient Functionality Accessibility Noise Level Durability Build Movability

Quality

1 Satisfied Very Very Satisfied Very Satisfied Satisfied

satisfied satisfied satisfied

2 Satisfied Very Very Satisfied Very Satisfied Satisfied

satisfied satisfied satisfied

3 Very Very Very Satisfied Very Very Very

satisfied satisfied satisfied satisfied satisfied satisfied

In Table 5, Acceptability of Rhonda Robot in terms of Convenient, Functionality, Noise level,

Durability, Build Quality and Movability, overall the respondents are very satisfied with the

design of the Rhonda Robot.

Satisfaction

 Very satisfied

 Satisfied

 Slightly satisfied

 Very dissatisfied

 Dissatisfied

 Slightly dissatisfied

Table 6. Acceptability of Rhonda robot in terms of Usability.

 Acceptability in Descriptive Interpretation in terms of Usability

Trial Ease of use Clear and Simple Instructions Accessibility in Various Environments

1 Easy Very easy Somewhat easy

2 Easy Very easy Somewhat easy

3 Very easy Very easy Easy

In table 6, Acceptability of Rhonda Robot in terms of Ease of use is easy, Clear and Simple

Instructions is very easy, and Accessibility in various environments is somewhat easy. Overall

the data interpretation on the Rhonda robot is easy in terms of usability.

Level of Difficulty:

 Very Easy

 Easy

 Somewhat easy

 Hard

 Very hard

 Somewhat hard

Table 7. Acceptability of Rhonda robot in terms of Appropriateness.

Acceptability in Descriptive Interpretation in terms of Appropriateness

Trial Size and Weight Power and Maintenance and Energy Efficiency
 ( storage space availability, Performance Ease of Use

ease of carrying or moving

(suction power, and (filter replacement, (reduce electricity
the vacuum collector, and
the ability to remove emptying the dustbin, consumption and lower
movability in different areas
dirt, dust, and and general environmental impact)
where you use Rhonda )
allergens efficiently) maintenance tasks )

1 Excellent Excellent Excellent Above average

2 Excellent Excellent Excellent Good

3 Excellent Excellent Excellent Excellent

In table 7, Acceptability of Rhonda robot in terms of Size and Weight is Excellent, Power and

Performance is Excellent, Maintenance and ease of use is Excellent and Energy Efficiency is

Good. Overall, this data shows that Rhonda robot is appropriate for its functions and uses.

Quality

 Excellent

 Good

 Above average

 Very poor

 Poor

Conclusion

Rhonda Vacuum garbage collectors are essential for a variety of reasons, including

maintaining cleanliness, reducing allergies, enhancing the quality of the air inside and outside,
saving time, giving skilfulness, and making your collecting waste routine more convenient. They

are useful instruments that support a healthier and cleaner living environment. However, there

are occasions when multiple tasks must be completed simultaneously but cannot be done due to

another task, such as collecting. Their use of an automated vacuum cleaner that cleans both

indoors and outdoors allows them to multitask and be more convenient.

The researchers proved the effectiveness of using Rhonda as a vacuum garbage collector

for collecting indoor and outdoor without any hassle to collect waste. According to our

examination of suction power and collecting efficiency, Rhonda vacuum garbage collector with

powerful motors and innovative filtering systems routinely. The indoor and outdoor surroundings

are cleaner and healthier as a result of these models’ dust and debris removal abilities. A device's

ability to avoid obstacles also depends on how well it is integrated. Effective obstacle avoidance

depends on a variety of factors, including the device's speed, the avoidance mechanism's reaction

time, and the decision-making algorithms. For example, at Rhonda, the device will move in

another direction if it detects an obstruction and stops if the obstacle is very close.

The general acceptability of a Rhonda vacuum collector in terms of certain design aspects

is commonly considered when evaluating the acceptability of a vacuum collector such as

Convenient, Functionality, Movability and Accessibility, Noise Level, Durability, and Build

Quality.

Usability is a product's capacity to be used successfully and efficiently to carry out its

intended function. A vacuum garbage collector's usability is improved when it has a useful and

hygienic dust collection system, a user-friendly design that makes routine maintenance and filter

collecting easy, and the capacity to clean a variety of surfaces. A vacuum garbage collector's

overall acceptance in terms of usability is influenced by the following elements: ease of use,
clear and simple instructions, and accessibility in various environments. For instance, crevice

tools and attachments assist users in efficiently handling specific chores or collecting at a

specific surface, which improves Rhonda's overall acceptance and usage.

Since the primary purpose of the Rhonda vacuum collector is to effectively collect

various surfaces, whether indoors or outdoors, among other things, its effectiveness can be

evaluated in terms of suitability. It can also remove dirt, dust, and other debris from various

surfaces effectively. High suction power, and appropriate attachments all contribute to the

performance of the collecting component and, as a result, the device's appropriateness. It can also

be based on how adaptable it is to performing various cleaning duties. The equipment should be

suitable, especially for people with allergies or respiratory sensitivities, and should have superior

filtration

Recommendation

The segregation of waste that is collected by the Rhonda robot will make people's work

easier. This will save people's time and prevent people from touching the trash collected by

Rhonda. Sorting your waste makes it easier to understand how to reduce your general waste

output, identify items that can be reused, and set aside items that should be recycled. Beyond

that, however, there’s also a moral imperative to be responsible for how you handle your trade

waste.

Failing to segregate trade waste properly means that it will end up mixed in landfills the same

way it was mixed in your bins. Waste items like food scraps, paper, and liquid waste can mix and

decompose, releasing run-off into the soil and harmful gases into the atmosphere.
Having an alarm or phone notification whenever the Rhonda robot is full of garbage that it has

collected is a big help to know if it needs to be picked up. It will also help to be able to leave the

Rhonda robot outside because it is said that the Rhonda robot is just the right size, and it still

depends on the amount of garbage around it and how long it can be left collecting garbage. It can

also be added here that the Rhonda robot will automatically stop when it is full of collected

garbage.