AMPHIBIOUS ROBO CLEANER

Anil Kumar.B1,Preeti Atukuri2,Raju Bathini2,Rakesh Dudyala 2,Rakesh Goud Nimmala2,Prabhakar.K3

1
Assistant Professor, 2Under graduate student,3Professor
Department of ECE, BVRIT
Narsapur, Medak, Telangana, INDIA
anilkumar.bandani@bvrit.ac.in

Abstract: Most of the cleaning methods on floor, water and grass

cutting methods that are being used these days are individual
methods that include the usage of broomsticks, wet clothes
,sickles, nets etc.…. which take lots of time and man power along
with this, in the process of cleaning the surface the person may in
hale tiny dust particles which may lead to allergy and other
health problems. Even though today’s methods are robust and
work well, they are very inefficient because they lead to health
hazards. Unnecessary wasting time, man power and health
hazards can be avoided by implementing a simple product with
multipurpose called Amphibious Robo Cleaner.All these practical
problems motivated us towards the completion of this project.
Further the project can been enhanced by implementing the
automatic charging of the robot and night vision can be
implemented using raspberry pi. And also an extension to this
project can be made in such away that, the robot will be able to
dispose-off the dust particles collected.
2.MAIN IDEA
The Objective of the current work is to implement
amphibious robo cleaner using ultrasonic sensors
HCSR04,Arduino boardinwhichATmega328controllerisused.
While cleaning the floor, the robot can work in manual and
autonomous mode. In autonomous mode, signals from
sensors given to the controller are compared by using code
dumped in the controller and then correspondingly the robot
is moved in the direction avoiding the obstacle. Where there
is no obstacle. In the lawn it works as a grass cutter and on
the water surface it cleans the algae.
3. BLOCK DIAGRAMS

Key Words: Arduino Uno, Ultrasonic sensors, Joystick, The block diagram consists of two sections namely
Microcontroller Atmega 328. Transmitter Section and Receiver section. The Transmitter
Section has four switches, Arduino, joystick, encoder and RF
1. INTRODUCTION
transmitter. The four switches are used to select the logics and
Robotics technology is very much beneficial for these logics are processed by Arduino and are sent to encoder
human needs in different environments to reduce the human to convert this parallel information to serial information which
efforts. The robotics has wide range of applications in is transmitted via RF transmitter. The Receiver Section has RF
domestic, industrial and military environments.The overview Receiver, decoder, Arduino, ultrasonic sensors, motors.
of this project is to implement Amphibious Robo cleaner Ultrasonic sensors are used to avoid obstacle in robot path.
which works both on land and water. Based on the logics selected in transmitter, the robot works as
Most of surface cleaning methods that are being used these a floor cleaner or as a grass cutter or as a surface water
days are manual individual methods that include the usage of cleaner.
broom sticks, wet clothes, nets, sickles etc.….which take lots
of time and manpower along with this, in the process of
cleaning the surface, the person may in hale tiny dust particles
which may lead to allergy and other health problems. Even
though today’s methods are robust and work well, they are
very inefficient because they lead to health hazards.
Unnecessary wasting of time, man power and health
hazards can be avoided by implementing simple product
called Amphibious Robo Cleaner. All these practical problems
motivated us towards the completion of this project.
 Receiving flowchart

4.FLOW CHARTS AND ALGORITHM

Transmitting flowchart

Algorithm:
Step 1: start
Step 2: initially, inputs are given.
Step 3: check whether the switch on the remote is pressed or not.
Step 4: analyses the switch that is pressed.
Step 5: if the floor switch is turned on in manual mode, it is
activated and starts cleaning.
Step 6: if the floor switch is turned on in auto mode, it is
activated and starts cleaning with help of ultrasonic
sensors.
Step 7: if the grass cutting switch is turned on, it is activated
and starts cutting which moves with the help of
joystick.
Step 8: if the water cleaning switch is turned on, it gets
activated and starts cleaning the surface of water
which moves with the help of joystick.
Step 9: stop.
 5. ENVIRONMENT
This amphibious cleaning robo works for
three applications. They are floor cleaning, grass cutting and
surface cleaning of water. The advantage of this robo is that
it works in autonomous and manual mode while cleaning the
floor.
In autonomous mode of floor cleaning the robot navigates to
clan the floor, it continually checks for the path which is free
from obstacles using ultrasonic sensors and moves in the
other direction cleaning the floor.

6.IMPLEMENTATION

The robot uses three ultrasonic sensors, RF pair, encoder,

decoder, Arduino boards, 4 dc motors and two induction
motors with driving circuits. The design in autonomous mode
has been coded in such a way that the robot avoids all the
obstacles and finds the path free of obstacles. The other two Receiver schematic diagram
modes are controlled manually by the particular logic given in
the microcontroller.
8. TESTING AND OBSERVATIONS
7. WORKING
We started working on our project “AMPHIBIOUS ROBO
This amphibious cleaning robo works for three applications. CLEANER” from November 2015 and completed by the
They are floor cleaning, grass cutting and surface cleaning of ending of January 2016. By this time a basic first prototype
water. The advantage of this robo is that it works in auto and was completed.
manual mode while floor cleaning.
From February to march of 2016 we conducted several test
Generally RF transmitter-receiver can exchange 16 logical trials and evaluated several technical and non-technical
combinations as communication takes place between them. parameters. Apart from testing we also improved certain
However, here we used 14 logical combinations out of 16 features to improve efficiency.
logical combinations to control the robot through remote. The
joystick on the remote gives analog values when operated and On an average we took thirty observations per month i.e.,
we assigned specific logics for different analog outputs of the almost an observation per day and the observations are as
joystick in the embedded code which is dumped in the arduino follows:
Uno and also different logics for different modes ,i.e. land(
manual, autonomous), surface cleaning of water, grass cutting. 1) Load vs Performance:
These logics are encoded using an on-board encoder HT12E Initial weight of the working robot was approximately
and then transmitted to receiver which is on the robot. The 2kg. At this stage the robot gives high performance in all
receiver receives these logical data, decodes them with the three modes, as we keep on increasing the weight the
help of decoder HT12D and transmits the data onto the performance got reduced. The threshold value of weight
microcontroller Atmega 328 where the robot moves is 4 kg, if this value is crossed the robot drowns in water
accordingly. mode and do not work.
In autonomous mode of floor cleaning the ultrasonic sensors
detect the obstacle and moves in the other direction cleaning Load vs Performance
the floor.
12
10
8
6
4
2
0
load 1= 2kg load 2= 2.5kg load 3= 3kg load 4= 4kg

performance
Transmitter schematic diagram
 2) Time vs Accuracy: 3) Repeatability:
During the testing period, accuracy of the robot was As mentioned above, during the testing period there
specifically observed and noted which are shown below. were total 60 trials out of which every trial gave an
expected results and they are used to improve the
robot functionality.
Time vs Accuracy
10 repeatability
8 9.2
9.1
6
9
4
8.9
2 8.8
8.7
0
1st day 20th day 40th day 60th day 8.6
1st trial 20th trial 40th trial 60th trial
Accuracy
fumctionality
With number of trials we have done we could evaluate
the errors and correct them, accordingly accuracy was The functionality of the robot was constant and as
increased to maximum level. per expectation it had very minor fluctuations and
hence the project has very good repeatability.
3)Time vs size and weight:

The size and weight of the robot were altered accordingly 4) Linearity:
Considering the expected output and practical
during design and implementation stage i.e., during
output a graph has been drawn.
November to January. And a very little changes were
made during the trials stage. That information is
mentioned below.
linearity
4.5
Time vs size and weight 4
7 3.5
3
6
2.5
5 2
1.5
4
1
3 0.5
2 0
day 1 day 20 day 40 day 60
1
expected output practical output
0
November December January
Improvements:
size weight 1) Included semi-circle arc in front of the robot to
reduce the drag caused by water.
2) Increased wheel size from 2 inch to 4 inch for
Initially size was less and to accommodate all the four better ground clearance.
mentioned modes size factor had to be increased at the 3) Replaced heavy robot base with light weight
same time weight was optimized to minimum level for plastic fiber to reduce the overall weight.
efficient performance by changing the materials used for 4) Replaced 100 rpm motors with 200 rpm motors
designing and working. for better performance.
5) Every circuit is made water proof to avoid
accidents while driving the robot.
 9. RESULTS based camera can be integrated with this system for real time
video streaming. The video captured by the camera is
transmitted over the internet and it can be viewed on any
internet enabled device (Mobile Phone or Laptop) by entering
the IP address, in the URL bar, provided by the IP based
camera. Further the project can also be enhanced by
implementing the automatic charging of the robot.
11.CONCLUSION

The objectives of this project has been achieved

which was developing the hardware and software for an
amphibious robo cleaner. From observation that has been
made, it clearly shows that its movement is precise, easy to
control and user friendly to use. The robo cleaner has been
developed successfully as it clears the surface of water and
land in a clean manner. This Amphibious robo cleaner
method is expected to overcome the problem such as
cleaning the floor, cutting the grass and clearing the surface
Working of our robo while cleaning the floor of water in less time with less energy.
12. REFERENCES
[1] http://extremeelectronics.co.in/rf/rf-communication-
between-microcontrollers-part-i/

[2] http://www.digi.com/resources/standards-and-
technologies/rfmodems/rf-basics

[3] http://playground.arduino.cc/uploads/Main/arduino_
notebook_v1

[4] https://www.arduino.cc/

[5] http://mcweb.nagaokaut.ac.jp/~ihara/column/ultrasonic%
20sensors%20draft.pdf

[6] http://www.inderscienceonline.com/doi/abs/10.1504/
Working of our robo while cleaning the Surface of water IJMA.2014.062338

[7] http://www.instructables.com/id/Floor-vacuum-cleaner-
robot-controlled-by-Arduino-w/

[8] http://www.instructables.com/id/ArduMower-Do-it-
yourself-robotic-mower/

[9]http://www.rakeshmondal.info/L293D-Motor-Driver

[10] Micromachined Ultrasound-Based Proximity Sensors -

Hornung, Mark R.

[11] Arduino 101 Beginners Guide: How to Get Started With

Your Arduino- by Erik Savasgard (Author)

[12] Make an Arduino Controlled Robot-Michael Margolis

[13] RF System Design of Transceivers for Wireless

Working of our robo while it is cutting the grass
Communications First Editon Editionby Qizheng Gu (Author)

[14.] DC Motors by Rafajilovski Goran and Digalovski Mihail

10.FUTURE WORK
[15.] Electric Motors: Applications and Control by M.V.
The project is built on a wireless model. It could Deshpande
further be developed to work on other wireless communication
like ZigBee to increase the range of operation, thus allowing
the user to move in an even easier unrestricted manner. An IP