VIVEKANAND EDUCATION SOCIETY’S

POLYTECHNIC
Chembur, Mumbai -71

SINCE 1962

Robotic Pool Cleaner Boat

A PROJECT REPORT
Submitted By

Mr. Vedant Gavhane

Ms. Aarya Desai
Mr. Sairaj Indulkar
Mr. Alim Shaikh

In partial fulfillment for the award of the degree Of

DIPLOMA
IN
ELECTRONICS & TELE-COMMUNICATION ENGINEERING
UNDER THE GUIDANCE OF
Mrs. Vaishali Rajeshirke
AFFILIATED TO
 MAHARASHTRA STATE BOARD OF TECHNICAL
EDUCATION CERTIFICATE

This is to certify that Mr. Vedant Gavhane, Ms. Aarya Desai, Mr. Sairaj
Indulkar, Mr. Alim Shaikh of 6th Semester Diploma in Electronics &
Tele-communication Engineering from Institute Vivekanand Education
Society’s Polytechnic (0004) having Enrollment no. 2100040428,
2100040430, 2100040434, 2100040436 has completed project of final year
having title “Robotic Pool Cleaner Boat” during academic year 2023 – 24
The project completed by in a group consisting of four persons under the
guidance of faculty guide Mrs. Vaishali Rajeshirke.

Name and Signature of Guide: Mrs. Vaishali Rajeshirke

________________ __________________ ___________________

External Examiner Head of the Department Principal

Seal of
Institution
 ACKNOWLEDGEMENT

We would like to express our sincere gratitude to several individuals and organizations for
supporting me throughout our Project.

We much appreciate Mrs. Deena Shah's leadership and unwavering oversight, as well as her
provision of essential project information and assistance in seeing the project through to
completion. To our parents in particular, we would like to convey our special gratitude for your
gracious collaboration and support.

We would especially want to thank Sir Avinash Dangwani for his time and attention in helping
us complete our project successfully. Sir has given his time to this project and supports us in
the software industry. We are grateful to Avinash Dangwani sir for lending us his invaluable
programming and IOT expertise, without which we could not have finished our project on
schedule.

We would want to convey our heartfelt gratitude to Mrs. Vaishali Rajeshirke & Mrs.
Nirmala Prabhu, our mentors, for their invaluable advice and assistance in completing my
project.

I would like to express my heartfelt appreciation to everyone who contributed to the completion
of this project. Without your support, guidance, and encouragement, this achievement would
not have been possible.

Lastly, I would like to thank my family and friends for their unwavering support, love, and
encouragement throughout this project. Your belief in me has been a constant source of
inspiration and motivation.

Once again, thank you to everyone who played a role in making this project a success. I look
forward to continuing to work together in the future.
 ABSTRACT

India's burgeoning population poses a significant challenge to environmental cleanliness,

particularly in regions where villages and cities are situated near lakes or rivers. Unfortunately,
these water bodies often remain unutilized due to human-induced pollution, particularly from
plastic, thermocol, and light weight metal waste. This pollution not only harms aquatic life but
also contributes to the spread of diseases like typhoid and intestinal illnesses.

Manual cleaning efforts, though noble, often fall short due to the sheer magnitude of the
task and the health risks involved in handling contaminated waste. To address these challenges,
we propose a practical and efficient garbage collection system tailored to clean up trash from
rivers, canals, and lakes.

This innovative system is engineered to handle a variety of materials, including floating

debris, trash bags, discarded tires, and more. Its design incorporates advanced IoT (Internet of
Things) technology, enabling real-time monitoring and control of the entire operation. By
leveraging IoT, we can track the collection process, optimize routes, and remotely manage the
equipment, enhancing efficiency and effectiveness.

The heart of this solution lies in a specially designed robotic pool cleaner for garbage
collection system designed to clean up trash from rivers, canals, and lakes. This system is
specifically engineered to handle a variety of materials, including floating debris, trash bags,
discarded tires, and more.

Moreover, this system is not limited to offshore cleanup efforts. Its versatility allows it to
navigate through narrow canals and reach areas previously inaccessible to traditional cleaning
methods. By expanding its functionality beyond offshore environments, we can address
pollution in a more comprehensive manner, safeguarding both aquatic ecosystems and the
communities that rely on them.

In essence, our proposed garbage collection system represents a significant step forward in
tackling water pollution in India. By combining innovative technology with practical solutions,
we can work towards cleaner and healthier water bodies, benefiting both present and future
generations.
 TABLE OF CONTENTS
CHAPTER 1 INTRODUCTION ......................................................................................................... 1
1.1 INTRODUCTION ............................................................................................................................................... 2
CHAPTER 2 LITERATURE SURVEY ............................................................................................. 3
2.1 LITERATURE SURVEY ................................................................................................................................. 4
2.2 PROBLEM DEFINITION ............................................................................................................................... 4
2.3 COMPONENTS DESCRIPTION................................................................................................................. 5
CHAPTER 3 SCOPE OF PROJECT................................................................................................ 15
3.1 SCOPE OF THE PROJECT ........................................................................................................................ 16
3.2 GOAL OF THE PROJECT.......................................................................................................................... 16
3.3 MANUFACTURING AND QUALITY ASSURANCE..................................................................... 16
3.4 SMART FEATURES AND MARKETING STRATEGY ............................................................... 16
3.5 COST ANALYSIS AND INTERNATIONALIZATION ................................................................. 17
3.6 CONCLUSION .................................................................................................................................................. 17
CHAPTER 4 METHODOLOGY ...................................................................................................... 18
4.1 PROPOSED METHODOLOGY ............................................................................................................... 19
4.2 CHALLENGES FACED................................................................................................................................ 20
CHAPTER 5 DETAILS OF DESIGN, WORKING AND PROCESSES ...................................... 21
5.1 BLOCK DIAGRAM ........................................................................................................................................ 22
5.2 INTERFACING DIAGRAM OF ROBOTIC POOL CLEANER ................................................ 23
5.3 INFORMATION ON ARDUINO SHIELD MOTOR DRIVER................................................... 24
5.4 OPERATING SYSTEM (SOFTWARE)................................................................................................. 26
5.5 FLOWCHART................................................................................................................................................... 28
5.6 SOURCE CODE................................................................................................................................................ 29
5.7 CODE EXPLANATION ................................................................................................................................ 32
CHAPTER 6 RESULT & APPLICATION ...................................................................................... 34
6.1 RESULT ................................................................................................................................................................ 35
6.2 APPLICATION ................................................................................................................................................. 36
6.3 ADVANTAGES ................................................................................................................................................. 36
6.4 DISADVANTAGES ......................................................................................................................................... 36
CHAPTER 7 CONCLUSION & FUTURE SCOPE ........................................................................ 37
7.1 CONCLUSION .................................................................................................................................................. 38
7.2 FUTURE SCOPE .............................................................................................................................................. 38
APPENDIX B ...................................................................................................................................... 40
1. Unit Outcomes (Cognitive Domain) ........................................................................................................ 41
2. Practical Outcomes (in Psychomotor Domain) .................................................................................. 41
 3. Affective Domain Outcomes....................................................................................................................... 41
RUBRICS .................................................................................................................................................................... 43
PUBLICATION .................................................................................................................................. 45

LIST OF FIGURES
Figure 1.1.1: Water Pollution............................................................................................................... 2
Figure 1.1.2: Cleaning Process ............................................................................................................. 2
Figure 2.3.1: Arduino Uno ................................................................................................................... 5
Figure 2.3.2: Bluetooth Module ........................................................................................................... 6
Figure 2.3.3: Arduino Shield Motor Driver ........................................................................................ 7
Figure 2.3.4: Dual Shaft Motor ............................................................................................................ 8
Figure 2.3.5: Gear Motor ..................................................................................................................... 9
Figure 2.3.6: Lithium-Ion Batteries................................................................................................... 10
Figure 2.3.7: Voltage Regulator ......................................................................................................... 11
Figure 2.3.8: Other Parts for making the Boat ................................................................................ 12
Figure 5.1.1: Block Diagram .............................................................................................................. 22
Figure 5.2.1: Circuit Diagram............................................................................................................ 23
Figure 5.3.1: Motor Driver ................................................................................................................. 24
Figure 5.3.2: Motor Driver Power ..................................................................................................... 25
Figure 5.3.3: Output of Motor Driver ............................................................................................... 25
Figure 5.3.4: Bonus Features ............................................................................................................. 26
Figure 5.4.1: Arduino IDE Software Logo ....................................................................................... 26
Figure 6.1.1: Actual Model of Project ............................................................................................... 35
Figure 6.1.2: Photo of Team Members .............................................................................................. 36

LIST OF TABLES
Table 2.4.1: Project Total Cost………………………...……………………………………………13
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CHAPTER 1
INTRODUCTION

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1.1 INTRODUCTION
Most of the people have a swimming pool in their house or apartment. Pool gets dirty by
falling dead leaves on it or by any other small trash, so cleaning it manually takes time. So, to
save time I made a boat in which it collects the trash which lies on the top surface of water in
pools by using Arduino. We can also call it a “Skimmer Boat.”

Traditional method for collecting water surface floating waste is manual basis, by means
of boat trash skimmer. These methods are costly, risky and time consuming. To eliminate the
drawbacks of these mentioned methods the robotic pool cleaning boat was designed which
helps in cleaning the water surface efficiently and eco-friendly.

The objective of this project is to, instead of hiring someone to clean your pool or using a
more labor-intensive machine, a pool cleaner is the best option for the budget conscious pool
owner. It is a one-time investment meaning it will be beneficial in the long run period of time.
This means that it lets you save on energy, right after finishing. It also requires minimal
maintenance. Most automated cleaners in the market have a built-in function that automatically
turns off after its job.

Figure 1.1.1: Water Pollution Figure 1.1.2: Cleaning Process

It is to give emphasis on decreasing the consumption of time and manpower. Most

importantly to have clean water bodies. To provide with the resource so that the pollutants can
be removed from the water bodies. To provide performance which is fast and very reliable
during the river cleaning operation.

The most objective of this project is to develop a system to clean the thrash from surface
of water bodies using Arduino uno to ease the method for cleaning and also result in saving of
time and work requirement. Status of the robot is controlled by Bluetooth from a certain
distance. Thus, it also reduces pollution due to garbage in water bodies. The pool surface
cleaner using robotic machines can be designed by making use of Arduino. Which can connect
with Bluetooth. Here we are focusing on less power consumption and more performance
devices. So, we are using Arduino uno which is more suitable with our requirement.

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CHAPTER 2
LITERATURE SURVEY

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2.1 LITERATURE SURVEY

This project is developed to clean trash from the surface of water in a swimming pool
using Arduino uno. Trash like plastic, thermocol, and dead leaves fall from trees will collect
and store in that boat's trash store. Our project is on cleaning trash from the surface of water in
the swimming pool by using Arduino. In the area of the swimming pool, dead leaves fall on
the water or plastic, thermocol like these plastics can be collected by this boat. By cleaning the
swimming pool manually, we can clean it by a boat which can be controlled by your phone.
The boat has a rolling roller at front from which it collects the trash to the trash store box of
the boat. When roller moves it pulls back the trash, when roller ends to its roll the trash falls in
the trash box. Roller is made up of plastic, it has some grip to collect the trash so trash won't
get slipped on the roller and get back to water.

The boat will run on Arduino through an app. To drive the motor, we used a motor driver
so we can control the boat by program using Arduino. So, by cleaning the swimming pool
manually we can clean it with this boat. The main advantage of this project is that it is energy
efficient, easy to use and also it cleans the pool better and faster than the manual method.
Additionally, we can upgrade it by adding some features like solar charging, sensors

2.2 PROBLEM DEFINITION

The project we select focuses on societal issues. Throwing debris into neighboring water
bodies has been a regular practice in the absence of garbage disposal facilities, and it has had
a negative impact on the local environment and wildlife. Human society requires cleanliness
as a basic necessity. We must maintain clean environment and surroundings, yet we only take
care of the regions that are part of our society or immediate surroundings. The majority of
garbage is dumped into bodies of water, such as lakes & ponds. Thus, it contributes
significantly to water contamination. The goals of our initiative are to clean the water's surfaces
and dispose of this garbage.

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2.3 COMPONENTS DESCRIPTION

1. Arduino UNO
The Arduino Uno is an open-source microcontroller board based on the Microchip
ATmega328P microcontroller. This is used to control the boat via Bluetooth till a
specific range. We have to write a program for motors to control it by the motor driver.
It has 14 digital input/output pins where 6 can be configured and used as PWM outputs,
6 as analog inputs are a great addition for I/O related operations. Powered with a 16
MHz ceramic resonator, an USB connection, a power jack, an ICSP header, and a reset
button.

Figure 2.3.1: Arduino Uno

● Specification

1. Model Type: UNO Rev R3 7. PWM Digital I/O Pins: 6

2. Microcontroller Chip: ATmega328P 8. DC Current per I/O Pin (mA): 40
3. Operating Voltage (VDC): 5 9. DC Current for 3.3V Pin (mA): 50
4. Input Voltage (Recommended): 7-12V 10. Clock Speed: 16 MHz
5. Analog I/O Pins: 6 11. SRAM (KB): 2
6. Digital I/O Pins: 14 (of which 6 provide 12. EEPROM: 1 KB (ATmega328)
PWM output) 13. Flash Memory: 32 KB.

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2. Bluetooth Module
HC‐05 module is an easy-to-use Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial connection setup. This serial port Bluetooth
module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps
Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR
Bluecore04‐External single chip Bluetooth system with CMOS technology and with
AFH (Adaptive Frequency Hopping Feature).

Figure 2.3.2: Bluetooth Module

● Specification

1. Profiles: Bluetooth serial port Profile

2. Dimension: 26.9mm x 13mm x 2.2 mm
3. Bluetooth protocol: Bluetooth Specification v2.0+EDR
4. Frequency: 2.4GHz ISM band, Range
5. Modulation: GFSK (Gaussian Frequency Shift Keying)
6. Sensitivity: -84dBm at 0.1% BER
7. Speed: Asynchronous: 2.1Mbps Max / 160 kbps, Synchronous: 1Mbps/1Mbps
8. Emission power: 4dBm, Class 2
9. Power supply: +3.3V, 50mA
10. Security: Authentication and encryption
11. Working temperature: -20°C to +75°C

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3. Arduino Motor Shield

The L293D Motor Driver/Servo Shield for Arduino is probably one of the most
versatile on the market and features 2 servo and 4 motor connectors for DC or stepper
motors. That makes it a great shield for any robotic project. This Arduino compatible
motor Driver shield is a full-featured product that can be used to drive 4 DC motors or
two 4-wire steppers and two 5v servos. It drives the DC motor and stepper with the
L293D, and it drives the servo with Arduino pin9 and pin10. The shield contains two
L293D motor drivers and one 74HC595 shift register. The shift register expands 3 pins
of the Arduino to 8 pins to control the direction of the motor drivers. The output enables
the L293D is directly connected to the PWM outputs of the Arduino.

Figure 2.3.3: Arduino Shield Motor Driver

● Specification

1. Capable of Driving 2 Stepper or DC motor

2. Bidirectional Control
3. Motor Voltage rating: 4.5V to 25V
4. Can also drive servo motor
5. High efficiency and simple usage.
6. Continuous Output current 1.2A.
7. 2 connections for 5V servo motors.
8. 4 H-Bridges: L293D chipset provides 0.6A per bridge (1.2A peak) with
thermal shutdown protection, internal kickback protection diodes.
9. Can run motors on 4.5VDC to 25VDC.

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4. Dual Shaft BO-Motors

Low-cost geared DC Motor. It is an alternative to our metal gear DC motors. It
comes with an operating voltage of 3-12V and is perfect for building small and medium
robots. Available with 30 and 100 RPM. The motor is ideal for DIY enthusiasts. This
motor set is inexpensive, small, easy to install, and ideally suited for use in a mobile
robot car. They are commonly used in our 2WD platforms. This motor has to perform
the operation of rotation of pulley and pull the belt filled with the garbage. So it has to
be a low speed-high torque motor. Two motors are used for one pulley, these motors
run at the speed of 100 rpm,600mA. This can rotate very precisely as a servo motor.

Figure 2.3.4: Dual Shaft Motor

● Specification
1. Operating Voltage (VDC): 3 ~ 12V
2. Shaft Length (mm): 8.5
3. Shaft Diameter (mm): 5.5
4. No Load Current (mA): 40-180mA.
5. Rated Speed After Reduction (RPM): 300
6. Rated Torque (Kg-Cm): 0.35
7. Weight (gm): 30
8. Dimensions in mm (L x W x H): 70x35x22
9. Gearbox Shape: Straight

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5. Gear Motors
This is a 60 RPM geared motor. These are straightforward DC motors with gears
attached to the shaft to get the best possible performance characteristics. Because their shaft
passes through the middle of their gearbox assembly, they are referred to as center shaft
DC geared motors. Utilizing these DC gear motors in standard size is quite simple.
Additionally, using an Arduino or other comparable board to control motors doesn't have
to cost a lot of money. This motor, which has a voltage of between 5 and 35V DC, can be
utilized with the L298N H-bridge module or L293D Arduino Shield with inbuilt voltage
regulator motor driver. Numerous robotic applications and all-terrain robots can make use
of this 12V 60 RPM DC motor.

Figure 2.3.5: Gear Motor

• Specification
1. Gear Material: Metal
2. Rated Speed (RPM): 60
3. Operating Voltage (VDC): 12V
4. Load Current Max (mA): 300
5. No-Load Current (mA): 60
6. Gearbox Diameter (mm): 38
7. Motor Diameter(mm) 32
8. Motor Length (mm) 75
9. Shaft Diameter (mm) 6
10. Shaft Length (mm) 21
11. Weight (g): 75

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6. Lithium Ion Battery

Lithium-Ion INR 18650 2000mAh (3c) Lithium-Ion 3.7V Battery is a single-cell
compact and powerful battery cell with a 2000mAh capacity. It is very convenient to install
in your project where 3.7 Volt with high capacity is needed.A Lithium-ion battery or Li-
ion battery (abbreviated as LIB) is a type of rechargeable battery. Lithium-ion batteries are
commonly used for portable electronics and electric vehicles. The batteries have a high
energy density, no memory effect (other than LFP cells), and low self-discharge. We at
Robu have the best lithium-ion batteries in various capacities, voltages, and sizes at the best
price.

Figure 2.3.6: Lithium-Ion Batteries

• Specification
1. Model No.: INR 18650 2000
2. Capacity (Mah): 2000
3. Output Voltage: 3.7V
4. Charge Rate: 3C
5. High energy density
6. Long cycle life High energy density
7. High working voltage for single battery cells.
8. Pollution-free.
9. No memory effects.
10. Capacity, resistance, Voltage, and platform time consistency are good.
11. Good consistency and low self-discharge.
12. Lightweight, small size.
13. Shape: Cylindrical Battery.
14. Battery Type: Lithium-Ion Battery.
15. High performance and capacity.
16. Flat top to suit many devices fitting.

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7. 5V Voltage Regulator
The L78 series of three-terminal positive regulators is available in TO-220, TO-220FP,
D²PAK, and DPAK packages and several fixed output voltages, making it useful in a wide
range of applications. These regulators can provide local on-card regulation, eliminating
the distribution problems associated with single-point regulation. Each type embeds
internal current limiting, thermal shutdown, and safe area protection, making it essentially
indestructible. If adequate heat sinking is provided, they can deliver over 1 A output
current. Although designed primarily as fixed voltage regulators, these devices can be used
with external components to obtain adjustable voltage and currents.

Figure 2.3.7: Voltage Regulator

• Specification
1. Output current up to 1.5 A.
2. Output voltages of 5v.
3. Thermal overload protection.
4. Short circuit protection.
5. Output transition SOA protection.
6. % output voltage tolerance.
7. Output Type: Fixed.
8. No. of Outputs: 1Outputs.
9. Input Voltage: 10 to 35V.
10. Output Current Max: 1.5A.
11. No. of Pins: 3Pins.
12. IC Mounting: Through Hole.

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8. Other Parts which we used for making the Boat

Figure 2.3.8: Other Parts for making the Boat

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2.4 TOTAL COSTING OF PROJECT

Sr Components Specification Quantity Cost

no.

1. Arduino UNO R3 ATMega328p 1 650/-

2. Bluetooth Module HC-05 Module 1 270/-

3. Arduino Motor Shield L293D Motor Driver Shield 1 180/-

4. Gear Motor 12V, 60 RPM 2 350/-

5. Dual Shaft BO-Motors 300 RPM 2 120/-

6. Conveyor Belt Plastic Net 1 60/-

7. Propeller Car Filter Centrifugal Fan 2 -

8. Battery 18650 3.7v, 2000Mah 3 180/-

9. Plastic Box Plastic Box with Lid 1 230/-

10. PVC Pipe 15Cm diameter PVC pipe - 700/-

11. Window Slide Wheel - 4 120/-

12. Rubber Transmission Belt - - 120/-

13. Acrylic Tube 10mm Diameter Shaft 1 80/-

14. Bearing 10mm ball bearing 2 160/-

15. Connecting Wire Breadboard connecting Wire As required 40/-

16. Battery Holder 3 Lithium-Ion cell Battery Holder 1 30/-

17. Switch SPST Switch 1 10/-

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18. DC Male/Female Jack DC adapter Jack Each one 20/-

19. 7805 Voltage Regulator 5V Voltage Regulator 1 10/-

20. Capacitor 10,100uf 16V Each 1 10/-

21. Adhesives Araldite, Fevikwik, Glue Gun 1 500/-

22. Silicon For Waterproofing 1 230/-

23. Spray Paint Blue Spray Paint 1 230/-

24. Traveling - - 150/-

Total Cost 4450/-

Table 2.4.1: Project Total Cost

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CHAPTER 3
SCOPE OF PROJECT

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3.1 SCOPE OF THE PROJECT

The project to create a robotic pool cleaning boat is a big plan to meet the demand for
automatic pool cleaning. First, we're looking closely at what people want and checking out
what other pool cleaners are doing. Then, we'll design the boat, making sure it's the right size,
shape, and uses energy well. After that, we'll build a model and test it a lot to make sure it
works well in all kinds of pools. The goal is to have a boat that's reliable and does a good job
cleaning pool. We'll keep improving it to stay ahead in the market. Once it's ready, we'll tell
people about it and sell it in stores or online. We want to make sure people know why our
pool cleaner is better than others. And, we'll be there to help customers with any questions or
problems. The main thing is to make a pool cleaning boat that people find useful and easy to
use.

3.2 GOAL OF THE PROJECT

Water is the most precious resource for humans as well as for the animals. Water is a
finite and unprotected natural resource. The use of water affects the quality of this resource
itself and nature in a broader sense. Ponds and lake water is valuable for the environment,
irrigation and drinking. It is fundamental to protect and fairly use the water. It is important to
manage the supply and disposal of water wisely, holding that clean water continues to be
available to future generations at a moderate cost. This effect of plastic on the human body is
caused by humans itself. Humans normally throw the plastic of any wafers which first they eat
and the wrapper they throw into the water. Likewise plastic bottles are also thrown by humans
after their use. It may be eaten by marine animals which may cause their life harm and the
marine animals when eaten by humans it also causes harm to the human body. To stop the
danger of garbage thrown into the water, we propose the boat ship which will help to collect
the garbage from water and make water harmless and clean.

3.3 MANUFACTURING AND QUALITY ASSURANCE

The production of the robotic cleaner involves using advanced technology to make it in
large quantities. We pay special attention to getting top-notch materials and parts. To make
sure the robotic cleaner lasts and works well every time, we have strict quality checks at every
step of making it. We also make sure that what we're doing follows safety rules and doesn't
harm the environment. It's important for us to give you a product that not only does what you
need but also follows rules that are important worldwide.

3.4 SMART FEATURES AND MARKETING STRATEGY

We're trying to make the pool cleaning boat even cooler by adding features like controlling
it with your phone. Imagine using a special app to check and steer the boat from anywhere.
And to make sure everyone knows about it; we're making a solid plan. We're figuring out who
will like it the most and finding the best ways to sell it. Our goal is to make sure lots of people
know about it and find it super handy.

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3.5 COST ANALYSIS AND INTERNATIONALIZATION

We took a close look at all the costs to figure out how much our pool cleaning boat should
cost. We want to make sure it's a good deal for you, with a good balance between the price and
the quality of the product. This helps us compete with other options in the market and gives
you something valuable. We're also thinking about people all around the world. We're making
changes to the product and how we tell people about it so that it works well for different markets
globally. We want everyone to have a chance to enjoy our pool cleaning boat

3.6 CONCLUSION
In wrapping things up, our project to create a pool cleaning boat is not just about the boat
itself. We're developing an ambitious plan to ensure that we satisfy client needs and establish
ourselves as a major force in the pool cleaning industry. By carefully planning and doing each
part of the project, our goal is to make a product that goes above what people expect and sets
a new standard for pool cleaning machines. From studying the market and designing the boat
to making it and supporting customers, we're thinking about everything. Adding cool features,
figuring out the right price, and making it work for people around the world are all part of the
plan. We want our pool cleaning boat to stand out for how well it works, how innovative it is,
and how happy it makes customers. Our aim is to make pool maintenance easier and more
enjoyable for everyone who uses our product.

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CHAPTER 4
METHODOLOGY

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4.1 PROPOSED METHODOLOGY

The most objective of this project is to develop a system to clean the thrash from surface
of water bodies using Arduino uno to ease the method for cleaning and also result in saving of
time and work requirement.

The objective of this project is to give emphasis on decreasing the consumption of time
and manpower. Most importantly to have clean water bodies. To provide with the resource so
that the pollutants can be removed from the water bodies. To provide performance which is
fast and very reliable during the river cleaning operation.

• Arduino controls the motors and propellers to move the boat through the water.
• It can adjust motor speeds and directions to control forward, backward, left, and right
movements.
• The cleaning mechanism (Conveyor Belt with stepper motor) is activated by the Arduino.
• As the boat moves along the pool surface, the cleaning mechanism collects debris, dirt, and
algae.
• A Bluetooth module on the Arduino allows it to communicate with a paired device, such
as a smartphone or computer.
• Users can control the boat's movement, initiate or stop cleaning, and monitor its status
remotely through the app or software.
• Safety mechanisms can be implemented to pause or stop the cleaning mechanism when the
boat is out of the water or encounters an issue.
• Emergency stop and shutdown procedures can be activated through the Bluetooth
connection.
• The mobile app or computer software provides a user-friendly interface for controlling and
monitoring the boat.

The Functionalities of this Robotic Pool Cleaner

1. The user can control the boat by using Bluetooth with his phone.
2. The Arduino Microcontroller is used.
3. Debris is collected from the conveyor belt.
4. There is space to store the debris.
5. It is energy efficient.
6. It is durable.

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4.2 CHALLENGES FACED

While developing the project we faced many challenges while developing the project. The
challenges/ problems are given below:

Problem that we faced

1. Chassis for the boat
2. Choosing the proper motors
3. Problem in code
4. Motor Driver Circuit

1. Chassis for the boat

For building the boat at first, we need a great model for the boat in which we can collect
the debris and also, we can put our circuit in it. Also, that chassis wants to be
lightweight. While making the chassis I got many problems, because the body was not
available so I have to start from scratch. If I made also, I have to do waterproofing to it

2. Choosing the popper motors

While choosing the motor we had to see that the motor should not be high weighted & it
has high torque which can pull the boat.

3. Problem in code
While doing the coding I face some problems in the section of giving commands of
controlling the conveyor and controlling the boat in forward and backwards. The problem
was if I generate a loop for forward and backward then I don’t know how to generate
another loop for the conveyor belt. So, for that I started researching it online. So, I found
one solution that is mixing 2 codes together. I used code of 4-wheel drive and 2-wheel drive
cars using Arduino uno & generated the code.

4. Motor Driver Circuit

The problem in this was When I connect Dual shaft DC motors The IC starts heating up
quickly till it does not get burned. I start checking where the problem is. At first, I checked
the datasheet of Arduino Shield & Motor which I used, I checked the current rating of both
and found that the Motor is taking more current than its limit. The motor capacity is 180mA
but it was taking 220mA. So, I thought the motor was shorted from inside and if I change
the motor then the heating issue of the motor will be solved.

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CHAPTER 5
DETAILS OF DESIGN, WORKING
AND PROCESSES

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5.1 BLOCK DIAGRAM

Control
Device

Figure 5.1.1: Block Diagram

The working of block diagram is as follow

• Bluetooth Module (HC-05): These are small electronic modules that enable wireless
communication between devices over short distances using Bluetooth technology. In
the context of the described system, the Bluetooth module is connected to the Arduino,
allowing the robot to communicate wirelessly with external devices such as
smartphones or tablets for remote control or data monitoring.

• Arduino: The Arduino serves as the central control unit of the robot. It is a
microcontroller platform that processes sensor data, executes programmed instructions,
and manages the overall operation of the robot. With the help of the Bluetooth module,
the Arduino can receive commands or send data wirelessly, making it a versatile control
system for the robot.

• Motor Driver: This electronic component is used to control the speed and direction of
the motors. It interprets signals from the Arduino and adjusts the power supplied to the
motors accordingly, allowing precise control over the robot's movement. Motor drivers
are essential for driving motors efficiently and protecting them from damage due to
over current or voltage spikes.

• Propellers Motor: These components provide propulsion for the robot, allowing it to
move around the pool. The motors convert electrical energy from the battery into
rotational motion, which is then transferred to propellers or other propulsion
mechanisms to generate thrust. Depending on the design of the robot, different types of
motors and propellers may be used to achieve the desired performance and
maneuverability in water.

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• Conveyor Motor: A conveyor motor uses Gear Motor. A gear motor is a motor
designed with an integrated gearbox. Gear motors function as torque multipliers and
speed reducers thus requiring less power to move a given load. The gear motor is used
to operate a conveyor belt mechanism designed to remove debris from the pool
surfaces. The Arduino can send commands to the motor driver to control the speed and
of the conveyor belt, facilitating efficient cleaning of the pool.

• Supply: The supply serves as the primary power source for the robot, supplying
electrical energy to the Arduino, motors, and other electronic components. The choice
of battery depends on factors such as the power requirements of the system, operating
duration, and size constraints. Rechargeable batteries such as lithium-ion or lithium-
polymer are commonly used due to their high energy density and ability to be recharged
multiple times, providing long-lasting power for the robot's operation.

5.2 INTERFACING DIAGRAM OF ROBOTIC POOL CLEANER

Figure 5.2.1: Circuit Diagram

Working of circuit diagram as follows

The Arduino microcontroller processes commands from the Bluetooth module and adjusts
the speed and direction of the motors and propellers accordingly. It can vary motor speeds to
control forward, backward, left, and right movements of the boat through the water. By
adjusting the power supplied to the motors, the Arduino can navigate the boat smoothly and
precisely in different directions.

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 Robotic Pool Cleaner Boat

The Arduino also controls the activation of the cleaning mechanism, which consists of a
conveyor belt driven by a stepper motor. When initiated through the mobile app or software
interface, the Arduino sends signals to the stepper motor to start the conveyor belt's motion. As
the boat moves along the pool surface, the cleaning mechanism collects debris, dirt, and algae,
improving the cleanliness of the pool.

A Bluetooth module integrated with the Arduino enables wireless communication with a
paired device, such as a smartphone or computer. This allows users to remotely control the
boat's movement, initiate or stop the cleaning process, and monitor its status through a
dedicated mobile app or computer software.

The mobile app or computer software provides a user-friendly interface for interacting with
the boat. Users can easily control the boat's movement, start or stop the cleaning process, and
receive real-time status updates and alerts. The interface may include intuitive controls, visual
feedback, and notifications to enhance the user experience and facilitate efficient operation of
the robotic boat for pool cleaning purposes.

5.3 INFORMATION ON ARDUINO SHIELD MOTOR DRIVER

• Driver Chipset
The brains of the shield are two L293D motor drivers and a 74HC595 shift register.

The L293D is a dual-channel H-

Bridge motor driver that can control
two DC motors or a single stepper
motor. Because the shield includes two
such motor drivers, it can control up to
four DC motors or two stepper motors.

The 74HC595 shift register, on the

other hand, extends the Arduino’s four
digital pins to the eight direction
control pins of two L293D chips.

Figure 5.3.1: Motor Driver IC

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• Motor Power Connections

The shield supports a motor voltage range of 4.5 to 25 volts. This power can be shared with
the Arduino or used separately. In order to
choose between the two, a special jumper
labeled PWR is provided near the two-
terminal power connector.

When the jumper is in place, power is

supplied to the motors via the Arduino DC
power jack. In this case, the motors and
Arduino are not physically isolated from each
other. This method makes the shield easier to
use because it requires only one power
supply; however, you can use this method
only when the motor supply voltage is less
than 12V. Figure 5.3.2: Motor Driver Power

When the jumper is removed, the motor power is disconnected from the Arduino, allowing
the motors to be physically isolated from the Arduino. In this case, however, you must provide
a separate motor power supply to the two-terminal power connector labeled EXT_PWR.

• Warning
Applying power to the EXT_PWR two-terminal power connector while the jumper is in
place will short the two power supplies together, potentially damaging the motor shield as well
as the Arduino.

• DC Motor Connections
The output channels of both L293D
ICs are broken out to the edge of the
shield with two 5-pin screw terminals
labeled M1, M2, M3, and M4. A total of
four DC motors operating at 4.5 – 25V
can be connected to these terminals.
Each channel on the module can
supply up to 600 mA (1.2A peak)
current to the DC motor. The amount of
current supplied to the motor, however,
depends on the capacity of the motor
power supply.
Figure 5.3.3: Output of Motor Driver

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 Robotic Pool Cleaner Boat

• Bonus Features
The shield includes a pulldown
resistor array to keep motors off
during power-up.

The on-board LED indicates

that the motor power supply is
working properly. The motors will
not run if it is not lit.

The RESET button is nothing

but Arduino’s reset button. It has
been brought to the top for easy access. Figure 5.3.4: Bonus Features

Six analog pins (A0 to A5), as well as 5V and ground connections, are provided in the
bottom right corner. You can populate these with headers, making them useful for connecting
various sensors.

• Arduino to Shield Pin Connections

For DC and stepper motor control, the shield makes use of pins D3, D4, D5, D6, D7, D8,
D11, and D12.

D9 and D10 are used to control the servo motors. D10 is connected to Servo 1, while D9 is
connected to Servo 2.

5.4 OPERATING SYSTEM (SOFTWARE)

The Software which we are using for the project is Arduino IDE (Integrated Development
Environment)

The Arduino Software (IDE), often known as the Arduino

Integrated Development Environment, includes a message
board, a text editor for creating code, and a terminal, a set
of menus, and a toolbar with buttons for frequently used
operations. It establishes a connection with the Arduino
hardware in order to upload and interact with programs.
It's simple to write code and upload it to the board offline
with the Arduino Software (IDE). For people with a bad
or nonexistent internet connection, we suggest it. Any
Arduino board can be utilized with this program.
Figure 5.4.1: Arduino IDE
Software Logo

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IDE 1.x.x and IDE 2.x are the two versions of the Arduino IDE that are currently available.
Compared to the IDE 1.x.x, the IDE 2.x is a new major release that is even faster and more
powerful. Advanced tools to assist users with debugging and coding are included, along with
a more responsive UI and a more modern editor.

Features of IDE 2.0

1. Modern, fully featured development
2. Dual Mode, Classic Mode (identical to the Classic Arduino IDE) and Pro Mode (File
System view)
3. New Board Manager
4. New Library Manager
5. Board List
6. Git Integration
7. Serial Monitor

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5.5 FLOWCHART

Start

Bluetooth
Module

Bluetooth Module
Try Again
connect to Mobile

Phone send run command to

Bluetooth Module

Bluetooth Module send command to

Arduino then to Arduino shield

Arduino Shield runs Conveyor and

propeller

End

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5.6 SOURCE CODE

#include <AFMotor.h>
#include <SoftwareSerial.h>

#define frontLeftMotorDir1 13
#define frontLeftMotorDir2 12
#define frontLeftMotorSpeed 11

#define frontRightMotorDir1 10
#define frontRightMotorDir2 9
#define frontRightMotorSpeed 8

#define rearLeftMotorDir1 7
#define rearLeftMotorDir2 6
#define rearLeftMotorSpeed 5

#define rearRightMotorDir1 4
#define rearRightMotorDir2 3
#define rearRightMotorSpeed 2

AF_DCMotor frontLeftMotor(1);
AF_DCMotor frontRightMotor(2);
AF_DCMotor rearLeftMotor(3);
AF_DCMotor rearRightMotor(4);

char command;
SoftwareSerial bluetooth(0, 1); // RX, TX

void setup() {
pinMode(frontLeftMotorDir1, OUTPUT);
pinMode(frontLeftMotorDir2, OUTPUT);
pinMode(frontLeftMotorSpeed, OUTPUT);

pinMode(frontRightMotorDir1, OUTPUT);
pinMode(frontRightMotorDir2, OUTPUT);
pinMode(frontRightMotorSpeed, OUTPUT);

pinMode(rearLeftMotorDir1, OUTPUT);
pinMode(rearLeftMotorDir2, OUTPUT);
pinMode(rearLeftMotorSpeed, OUTPUT);

pinMode(rearRightMotorDir1, OUTPUT);
pinMode(rearRightMotorDir2, OUTPUT);
pinMode(rearRightMotorSpeed, OUTPUT);

Serial.begin(9600);
bluetooth.begin(9600);
}

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void loop() {
if (bluetooth.available() > 0) {
char command = bluetooth.read();

switch(command){
case 'C':
ConveyorBelt();
break;
case 'O':
offConveyorMotors();
break;
case 'S':
stopMotors();
default:
break;
}
}

if(Serial.available() > 0){

command = Serial.read();
Stop(); //initialize with motors stoped
//Change pin mode only if new command is different from previous.
//Serial.println(command);
switch (command) {
case 'F':
moveForward();
break;
case 'B':
moveBackward();
break;
case 'L':
turnLeft();
break;
case 'R':
turnRight();
break;
}
}
}

void moveForward() {
rearLeftMotor.setSpeed(255);
rearRightMotor.setSpeed(255);

rearLeftMotor.run(FORWARD);
rearRightMotor.run(FORWARD);
}

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void moveBackward() {
rearLeftMotor.setSpeed(255);
rearRightMotor.setSpeed(255);

rearLeftMotor.run(BACKWARD);
rearRightMotor.run(BACKWARD);
}

void turnLeft() {
rearLeftMotor.setSpeed(200);
rearRightMotor.setSpeed(200);

rearLeftMotor.run(BACKWARD);
rearRightMotor.run(FORWARD);
}

void turnRight() {
rearLeftMotor.setSpeed(200);
rearRightMotor.setSpeed(200);

rearLeftMotor.run(FORWARD);
rearRightMotor.run(BACKWARD);
}

void Stop() {
rearLeftMotor.setSpeed(0);
rearRightMotor.setSpeed(0);

rearLeftMotor.run(RELEASE);
rearRightMotor.run(RELEASE);
}

void ConveyorBelt() {
frontLeftMotor.setSpeed(255);
frontRightMotor.setSpeed(255);

frontLeftMotor.run(BACKWARD);
frontRightMotor.run(BACKWARD);
}

void offConveyorMotors() {

frontLeftMotor.setSpeed(0);
frontRightMotor.setSpeed(0);

frontLeftMotor.run(RELEASE);
frontRightMotor.run(RELEASE);

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void stopMotors() {
frontLeftMotor.setSpeed(0);
frontRightMotor.setSpeed(0);

frontLeftMotor.run(RELEASE);
frontRightMotor.run(RELEASE);
}

5.7 CODE EXPLANATION

• Libraries Used
- `AFMotor.h`: This library is used to control motors with the Adafruit Motor Shield.
- `SoftwareSerial.h`: This library allows serial communication on other digital pins
rather than the hardware serial port (pins 0 and 1).

• Pin Definitions
The code defines pin numbers for motor directions (DIR1 and DIR2) and speed (SPEED)
for each motor.

• Motor Initialization
- Four DC motors are initialized using the `AF_DCMotor` class from the Adafruit
Motor Shield library.
- Software serial communication is set up for Bluetooth communication.

• `setup()` Function
- Initializes pin modes for all motor control pins.
- Begins serial communication for both hardware (USB) and software (Bluetooth) at a
baud rate of 9600.

• `loop()` Function
- Checks for incoming commands from both Bluetooth and serial port.
- Executes corresponding functions based on received commands.

• Movement Functions
- `moveForward()`: Sets both rear motors to move forward.
- `moveBackward()`: Sets both rear motors to move backward.
- `turnLeft()`: Makes the robot turn left by setting the rear left motor to move backward
and the rear right motor to move forward.
- `turnRight()`: Makes the robot turn right by setting the rear left motor to move
forward and the rear right motor to move backward.
- `Stop()`: Stops both rear motors.

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• Conveyor Belt Functions

- `ConveyorBelt()`: Starts the conveyor belt by setting both front motors to move
backward.
- `offConveyorMotors()`: Stops the conveyor belt by releasing both front motors.

• Additional Notes
- There seems to be a missing `break; ` statement in the `switch` statement inside the
`loop () ` function after the `stopMotors()` case. It should be added to ensure proper
execution.
- The code initializes motors using the `AF_DCMotor` class from the Adafruit Motor
Shield library but directly controls the motors' speed and direction using `setSpeed()`
and `run()` functions instead of using the methods provided by the `AF_DCMotor`
class. This might be due to a custom configuration or preference.
- The code doesn't handle invalid commands, which might be a consideration for
robustness.

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CHAPTER 6
RESULT & APPLICATION

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6.1 RESULT

Figure 6.1.1: Actual Model of Project

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 Robotic Pool Cleaner Boat

Figure 6.1.2: Photo of Team Members

6.2 APPLICATION
1. Used to collect trash like leaves, plastic etc. From swimming pools.
2. If the size of the boat increases, then it can be used for cleaning the rivers and drains.
3. We can use it for small lakes and rivers.

6.3 ADVANTAGES
Advantages are as follows:
1. It is time saving.
2. It reduces the manpower.
3. It is energy efficient.
4. It can be used very easily.
5. User interface is easy.
6. Suitable for various pool shapes.
7. It is long term & cost saving.

6.4 DISADVANTAGES
Disadvantages are as follows:
1. It cannot used for long scale application like river cleaning, sea cleaning etc.
2. The trash which collected in the boat so we have to remove it manually so it is time
consuming.
3. It connected through Bluetooth so it has only 10 Meters range.

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CHAPTER 7
CONCLUSION & FUTURE SCOPE

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7.1 CONCLUSION
Cleaning of water bodies is always been a huge problem. This machine is easy in
operations and its manufacturing cost is also low. Hence this water cleaning machine is
very useful. Water cleaning machine is designed to make system very much economical
and helpful to remove water impurities like plastic, trashes and other day to day waste
which is floating on the surface of water bodies.

If we upgrade it more, so we can use it for large scale application like big rivers, lakes
& sea also. So, the damage which is harming the aquatic life due to trashes in the sea, lake
and river it will be reduced by this cleaner boat.

In conclusion, this study presented the design of an autonomous swimming pool robot.
All project objectives met successfully and with minimal error. The first step involves
studying literature and other people's research, followed by the second stage, which
involves analyzing data obtained from the literature review. The third stage begins with
the design planning of the robot, and the last step is the simulation of the robot's movement.
The fourth step is finding and purchase all the instruments and equipment required to build
the robot, followed by programming the robot. The fifth step is to build and test the robot.

7.2 FUTURE SCOPE

In the future we can expand the project by adding multiple function in it. Multiple
function like Autonomous Navigation, Water Filtration & purification, Increase in
Durability, Compatible to Environment. The main upgrade that can be done is, to make
compatible for large scale application like for sea, large rivers, large lake. We can also
upgrade the trash handling capacity of boat. We can increase the size of boat by which we
can collect more trash as well as add more function, Like GSM to with camera so we can
navigate it properly. This project will help to clean all the sea trashes due to which the
labor work, manpower will reduce. Due to which the aquatic life of animals will be in safe
So, to maintain a good balance between the aquatic life, this automatic water cleaning
machine will help.

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REFERNCES

1. https://ijcrt.org/papers/IJCRT2305299.pdf

2. https://www.metrorod.co.uk/help-and-advice/blogs/the-effects-of-water-pollution/

3. https://www.semanticscholar.org/paper/Design-and-Development-of-River-Cleaning-
Robot-IoT-Mohammed-Al-Zubaidi/beb50c26e7650a2ed99d5d52dacb498722313351

4. (PDF) Solar-Powered-Trash-Collector-on-Water (1) (researchgate.net)

5. Solar Operated Water Cleaning Boat Using Arduino (ijrpr.com)

6. Solar_Operated_Water_Cleaning_Boat_ijariie7427.pdf

7. Robotic Pool Cleaning Machine Using Arduino (ijraset.com)

8. https://lastminuteengineers.com/l293d-motor-driver-shield-arduino-tutorial/

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 Robotic Pool Cleaner Boat

APPENDIX B
Evaluation Sheet (ESE)
For
Capstone Project Execution & Report Writing

Name of Students: Vedant Gavhane, Aarya Desai, Sairaj Indulkar, Alim Shaikh
Name of Program: Electronic & Tele-communication Engineering Semester: 6th
Course Title: Capstone Project Execution & Report Writing Code: 22060
Title of Capstone Project: Robotic Pool Cleaner Boat

A. POs addressed by the Capstone Project

PO1: Basic and discipline-specific knowledge: Apply knowledge of basic mathematics,
science, and engineering specialization to solve the engineering problems.

PO2: Problem analysis: Identify and analyze well-defined engineering problems using
codified standard methods.

PO3: Design/development of solutions: Design solutions for well-defined technical

problems and assist with the design of systems components or processes to meet specified
needs.

PO4: Engineering Tools, experimentation, and Testing: Apply modern engineering

tools and appropriate techniques to conduct standard tests and measurements.

PO5: Engineering practices for society, sustainability, and environment: Apply

appropriate technology in the context of society, sustainability, environment, and ethical
practices.

PO6: Project management: Use engineering management principles individually, as a

team member, or as a leader to manage the project and effectively communicate about well-
defined engineering activities.

PO7: Life-long learning: Ability to analyze individual needs and engage in updating in
the context of technological changes.

B. Program Specific Outcomes (PSO) addressed by the capstone project.

PSO1. Electronics and Telecommunication System: Maintain various types of
Electronics and Telecommunication engineering specific industry soon after the
diploma program.

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 Robotic Pool Cleaner Boat

PSO2. EDA Tools Usage: Use EDA Tools to develop simple Electronics and
Telecommunications Engineering related Circuits.

C. COs addressed by the Capstone Project

a) Implement the planned activity individually and/or as a team.
b) Select, collect, and use required information/knowledge to solve the
identified problem
c) Take appropriate decisions based on collected and analyzed information.
d) Ensure the quality of the product.
e) Consider the ethical issues related to the project.
f) Assess the impact of the project on society.
g) Communicate effectively and confidently as a member and leader of the team.
h) Prepare project report after performing due plagiarism check using appropriate tools.

D. Other learning outcomes achieved through this project

1. Unit Outcomes (Cognitive Domain)

a) Tested the Performance of Arduino UNO & Arduino Motor Driver Shield.
b) Interpret of Execution of code using relevant software.
c) Develop the Flowchart on the basis of Coding.
d) Troubleshooting each Electronic component used in the project using relevant tools
(DMM).

2. Practical Outcomes (in Psychomotor Domain)

a) Interpret the working of Components using an Open-source electronics platform
(Arduino).
b) Maintain a control circuit consisting of electronic devices.
c) Interpret the working of the Robotic Pool Cleaning Boat using an Open-source
Platform (Arduino).
d) Interpret and Execute the Code using an open-source electronics platform (Arduino)

3. Affective Domain Outcomes

a) Follow safe Practices.
b) Demonstrate Working as a leader / a team member.
c) Maintain Electronics Equipment.
d) Perform under Guidance.

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PROGRESSIVE ASSESSMENT (PA) SHEET

Sr No. Criteria Marks
1 Project Proposal / Identification
2 Punctuality and Overall Contribution
10
3 Project Diary
4 Execution of Plan During the Sixth Semester 20
Project Report Including Documentation 15
5

6 Presentation 05
Total 50

PROGRESSIVE ASSESSMENT SHEET (PA)

Name of Roll No Project Punctuality Project Industrial Report Presentation Total

Student Proposal / and Overall Diary Survey / writing (05) (50)
identification Contribution (6) Literature (15)
(2) (2) Review
(20)

Vedant 17
Gavhane
Aarya 18
Desai
Sairaj 19
Indulkar
Alim 20
Shaikh

Name and designation of the faculty member: Mrs. Vaishali Rajeshrike

Signature: - _______________________

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 Robotic Pool Cleaner Boat

RUBRICS
SUGGESTED RUBRIC FOR ASSESSMENT OF CAPSTONE PROJECT

Sr Characteristic Poor Marks Average Good Marks Excellent

No. to (1 - 3) marks (1 - 3) Marks
be assessed (1 - 3) (1 - 3)
1. Problem/ Task Relates to very Related to Take care of at Take care of
Identification few POs Scope of Some POs Scope least their POs more than Three
(Project Title) problem not clear of Problem / Scope of Problem POs Scope of
at all task vague / Task not very Problem/ Task very
specified clear
2. Literature Not more than At-least 10 At-least 15 About 20 relevant
Survey/ Ten sources relevant relevant sources, most
Industrial Survey (Primary and sources, most sources, most latest
secondary), very latest latest
old reference
3. Project Proposal Methods are not Appropriate plan Appropriate and Appropriate and
appropriate, All but not in much detailed plan detailed plan with
Steps not detail. Plan B for With Plan B for Plan B for critical
Mention critical activities Critical activities Activities
Design of the not mentioned. mentioned, but mentioned, clarity
Prototype not Timeline is not clarity is not in methods with
started (if developed. There in methods, timeline, detail
applicable) Design of time. The line is design of
Prototype is given but not prototype (if
Not complete. appropriate applicable)
(If Design of
applicable) Prototype is not
detailed

4. Project Diary Entries for most Entries for some Entries were Entries were
weeks are weeks are made every Made every week
missing. There is missing. Details Week but are not in detail, signed
no proper are not in detail. Signed and approved by
sequence and appropriate, not And approved by Guide every week
details are not signed regularly A guide every
correct. by the guide. week

5. Final report Very Short, Poor Detail, correct Conclusion, Very Detail,
Presentation quality sketches, and clear sufficient graphic correct, clear
detail about descriptions of description description of
methods, method, methods,
material, Materials and materials,
precautions and precautions precautions and
conclusion conclusions.
omitted, some Enough tables,
details are wrong charts and sketches

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6. Presentation Major Include Includes major Well

information is information but information and organized,
not including, not well well organized include major
Information is organized and but not information,
Not well Not presented Presented well Well present
organized well

7. Question and Answer Could not reply Replies to Reply properly to Reply to most Of
session To considerable considerable considerable the Question
Number of Number of Number of properly
questions Question but not Questions
very properly

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 International Journal of Research Publication and Reviews, Vol 5, no 3, pp 6604-6609 March 2024

International Journal of Research Publication and Reviews

Journal homepage: www.ijrpr.com ISSN 2582-7421

Robotic Pool Cleaner Boat

Mrs. Vaishali Rajeshirke1, Vedant Gavhane2, Aarya Desai3, Sairaj Indulkar4, Alim Shaikh5
Vivekananda Education Society’s Polytechnic, Sindhi Society, Chembur, Mumbai, 400071, India

ABSTRACT

The use of plastic, thermocol, and metals is generating water blockage, which is problematic and encouraging bowel illnesses and typhoid sickness. Manually
cleaning the wastes would not be sufficient because it frequently entails a large amount of work and effort and there is a chance that the irresistible germs present
in the sewage could cause various illnesses. A workable and effective waste collecting system design for clearing debris from rivers, channels, and lakes is included
in this study. The trash collection system is specifically made to function with applications that take up different kinds of materials, such as abandoned propeller,
trash bags, and gliding litter. The integrated system makes use of IoT technology, which can monitor and manage the entire process. The necessity to remove
pollutants from the rivers' territory and to work in areas other than the seaward zone prompted the development of the watercraft, which offers a wider range of
possibilities for removing garbage and rubbish from the aquatic environment.

Keywords: Introduction to the Project, Working, Block Diagram, Circuit Diagram, Flowchart of Code, Conclusion

1. Introduction

India's burgeoning population poses a significant challenge to environmental cleanliness, particularly in regions where villages and cities are situated
near lakes or rivers. Unfortunately, these water bodies often remain underutilized due to human-induced pollution, particularly from plastic, thermocole,
and metal waste. This pollution not only harms aquatic life but also contributes to the spread of diseases like typhoid and intestinal illnesses. Traditional
method for collecting water surface floating waste is manual basis, by means of boat trash skimmer. These methods are costly, risky and time consuming.
To eliminate the drawbacks of these mentioned methods the remote-controlled water cleaning machine was designed which helps in cleaning the water
surface efficiently and eco-friendly. The objective of this project is to, instead of hiring someone to clean your pool or using a more labor-intensive
machine, a pool cleaner is the best option for the budget conscious pool owner. It is a one-time investment meaning it will be beneficial in the long run
period of time. This means that it lets you save on energy, right after finishing. It also requires minimal maintenance. Most automated cleaners in the
market have a built-in function that automatically turns off after its job. It is to give emphasis on decreasing the consumption of time and manpower.
Most importantly to have clean water bodies. To provide with the resource so that the pollutants can be removed from the water bodies. To provide
performance which is fast and very reliable during the river cleaning operation. The most objective of this project is to develop a system to clean the
thrash from surface of water bodies using Arduino Uno to ease the method for cleaning and also result in saving of time and work requirement. Status of
the robot is controlled by Bluetooth from a certain distance. Thus, it also reduces pollution due to garbage in water bodies. The pool surface cleaner using
robotic machines can be designed by making use of Arduino. Which can connect with Bluetooth. Here we are focusing on less power consumption and
more performance devices. So, we are using Arduino Uno which is more suitable with our requirement.

2. Literature Survey

This project aims to clean trash from the surface of water in a swimming pool using an Arduino Uno. Trash such as plastic, thermocol, and dead leaves
that fall from trees will be collected and stored in the boat's trash storage compartment. Our project focuses on automating the process of cleaning the
surface of a swimming pool by utilizing an Arduino-controlled boat. In swimming pool areas, dead leaves often fall onto the water, along with plastic
and thermocol debris. Our boat is designed to collect these types of trash efficiently. Instead of cleaning the swimming pool manually, this boat can be
controlled remotely via a smartphone. The boat is equipped with a rolling roller at the front, which collects the trash and deposits it into the onboard trash
storage compartment. As the roller rotates, it pulls the trash towards the storage compartment. Once the roller completes its rotation, the collected trash
is deposited into the storage compartment. The roller is made of plastic and features a grippy surface to prevent trash from slipping off and returning to
the water. To control the boat, we have employed an Arduino microcontroller and a motor driver. This setup allows us to program and control the boat's
movements through a dedicated app on a smartphone. The primary advantages of this project are its energy efficiency, user-friendliness, and the ability
to clean the swimming pool more effectively and quickly than manual methods. Furthermore, the system can be upgraded with additional features such
as solar charging and sensors for enhanced functionality. By automating the cleaning process, our project offers a convenient and efficient solution for
maintaining the cleanliness of swimming pools.

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Fig 2.1 Block Diagram

3. Hardware aspects and working

a. Bluetooth Module (HC-05): These are small electronic modules that enable wireless communication between devices over short
distances using Bluetooth technology. In the context of the described system, the Bluetooth module is connected to the Arduino,
allowing the robot to communicate wirelessly with external devices such as smartphones or tablets for remote control or data
monitoring.

Fig 3.1 Bluetooth Module (HC-05)

b. Arduino: The Arduino serves as the central control unit of the robot. It is a microcontroller platform that processes sensor data,
executes programmed instructions, and manages the overall operation of the robot. With the help of the Bluetooth module, the
Arduino can receive commands or send data wirelessly, making it a versatile control system for the robot.

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Fig 3.2 Arduino Uno

c. Motor Driver: This electronic component is used to control the speed and direction of the motors. It interprets signals from the
Arduino and adjusts the power supplied to the motors accordingly, allowing precise control over the robot's movement. Motor drivers
are essential for driving motors efficiently and protecting them from damage due to over current or voltage spikes.

Fig 3.3 Arduino Motor Shield

d. Dual Shaft BO-Motor: These components provide propulsion for the robot, allowing it to move around the pool. The motors convert
electrical energy from the battery into rotational motion, which is then transferred to propellers or other propulsion mechanisms to
generate thrust. Depending on the design of the robot, different types of motors and propellers may be used to achieve the desired
performance and maneuverability in water.

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Fig 3.4 Dual Shaft BO-Motor

e. Gear Motor: A conveyor motor uses Gear Motor. A gear motor is a motor designed with an integrated gearbox. Gear motors function
as torque multipliers and speed reducers thus requiring less power to move a given load. The gear motor is used to operate a conveyor
belt mechanism designed to remove debris from the pool surfaces. The Arduino can send commands to the motor driver to control
the speed and of the conveyor belt, facilitating efficient cleaning of the pool.

Fig 3.5 Gear Motor

Fig 3.6 Interfacing diagram

The Arduino microcontroller processes commands from the Bluetooth module and adjusts the speed and direction of the motors and propellers
accordingly. It can vary motor speeds to control forward, backward, left, and right movements of the boat through the water. By adjusting the power
supplied to the motors, the Arduino can navigate the boat smoothly and precisely in different directions. The Arduino also controls the activation of the

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cleaning mechanism, which consists of a conveyor belt driven by a stepper motor. When initiated through the mobile app or software interface, the
Arduino sends signals to the stepper motor to start the conveyor belt's motion. As the boat moves along the pool surface, the cleaning mechanism collects
debris, dirt, and algae, improving the cleanliness of the pool. A Bluetooth module integrated with the Arduino enables wireless communication with a
paired device, such as a smartphone or computer. This allows users to remotely control the boat's movement, initiate or stop the cleaning process, and
monitor its status through a dedicated mobile app or computer software. The mobile app or computer software provides a user-friendly interface for
interacting with the boat. Users can easily control the boat's movement, start or stop the cleaning process, and receive real-time status updates and alerts.
The interface may include intuitive controls, visual feedback, and notifications to enhance the user experience and facilitate efficient operation of the
robotic boat for pool cleaning purposes.

Fig 3.7 Actual model

• APPLICATION

1. Used to collect trash like leaves, plastic etc. From swimming pools.

2. If the size of the boat increases, then it can be used for cleaning the rivers and drains.

3. We can use it for small lakes and rivers.

• ADVANTAGES

4. It is time saving.

5. It reduces the manpower.

6. It is energy efficient.

7. It can be used very easily.

8. User interface is easy.

• DISADVANTAGES

9. It cannot used for long scale application like river cleaning, sea cleaning etc.

10. The trash which collected in the boat so we have to remove it manually so it is time consuming.

11. It connected through Bluetooth so it has only 10 Meters range.

• FUTURE SCOPE

In the future we can expand the project by adding multiple function in it. Multiple function like Autonomous Navigation, Water Filtration & purification,
Increase in Durability, Compatible to Environment. The main upgrade that can be done is, to make compatible for large scale application like for sea,
large rivers, large lake. We can also upgrade the trash handling capacity of boat. We can increase the size of boat by which we can collect more trash as
well as add more function, Like GSM to with camera so we can navigate it properly. This project will help to clean all the sea trashes due to which the
labor work, manpower will reduce. Due to which the aquatic life of animals will be in safe So, to maintain a good balance between the aquatic life, this
automatic water cleaning machine will help.

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4. Conclusion

Cleaning of water bodies is always been a huge problem. This machine is easy in operations and its manufacturing cost is also low. Hence
this water cleaning machine is very useful. Water cleaning machine is designed to make system very much economical and helpful to
remove water impurities like plastic, trashes and other day to day waste which is floating on the surface of water bodies.

If we upgrade it more, so we can use it for large scale application like big rivers, lakes & sea also. So, the damage which is harming the
aquatic life due to trashes in the sea, lake and river it will be reduced by this cleaner boat.

In conclusion, this study presented the design of an autonomous swimming pool robot. All project objectives met successfully and with
minimal error. The first step involves studying literature and other people's research, followed by the second stage, which involves
analyzing data obtained from the literature review. The third stage begins with the design planning of the robot, and the last step is the
simulation of the robot's movement. The fourth step is finding and purchase all the instruments and equipment required to build the robot,
followed by programming the robot. The fifth step is to build and test the robot.

Acknowledgement

We would firstly like to thank our guide Mrs. Vaishali Rajeshirke who took out her precious time and helped us throughout the execution
process to make this research successful. We would also like to thank every member of our group for their support and truthfulness towards
the research. Although all the reviews are of our own gathered information would like not to tarnish anyone’s image.

References

[1]S Ms. K. Brunda Devi1, Meghana Sri Sai., G. Priyanka, K. Yuktha Varma, B. Gayathri, B. Tarini “Robotic Pool Cleaning Machine
Using Arduino”, International Journal for Research in Applied Science & Engineering Technology (IJRASET) Volume 11 Issue IV Apr
2023- Available at www.ijraset.com.

[2] Nur Ahmad Al-Maahi Bin Noor Azman, Ahmad Imran Bin Ibrahim, “Autonomous Swimming Pool Cleaning Robot”, IEEE 9th
International Conference on Underwater System Technology

[3] Prabakaran Veerajagadheswar, Anh Vu Le, Phone Thiha Kyaw, Mohan Rajesh Elara, Aung Paing, “An Autonomous Descending-
Stair Cleaning Robot with RGB-D based Detection, Approaching, and Area coverage Process”, 2022 IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS)

[4] Mathewlal T, Samantha T Dias, Firas F Bijle, Zaid M Barwelkar, Dominic S Chettiar,” Development of an Aquatic Robot for Cleaning
Swimming Pools”, 2023 International Conference on Nascent Technologies in Engineering (ICNTE 2023)

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