Design and Fabrication of Robotic Trash Boat to
Drive and Harvest Floatin Trash from Drainage
1st Ms. Kannaki S
Associate Professor
Department of Mechatronics Engineering
Sri Krishna College Engineering and Technology
Coimbatore, India
kannakis@skcet.ac.in
3rd Tharun Kumar C
Department of Mechatronics Engineering
Sri Krihsna College Engineering and Technology
Coimbatore, India
20eumt080@skcet.ac.in
Abstract— Drainage cleaning is crucial but often neglected,
leading to clogged systems. To address this, drainage
cleaning bots have gained popularity. Our project’s goal is
to design and build a bot which is a specialized boat
designed to clean drains by removing floating trash.
Equipped with cameras and sensors, it navigates and
identifies areas needing cleaning. With a conveyor system,
it harvests trash efficiently, reducing cleaning time and
disruption. The bots are cost-effective, saving on manual
cleaning, blockages, and repairs. They're eco-friendly,
using minimal water and no harsh chemicals, reducing
environmental impact. These robotic trash boats are
valuable for maintaining clean and functional drainage
systems in residential and commercial settings.
Keywords—Drainage cleaning, sensors, conveyor system, robotic
trash boats.
I. Introduction
A large quantity of floating trash is finding its way into the
drainage systems, from where it is potentially able to travel via
the drain, streams, rivers, lakes and estuaries until it eventually
reaches the open sea. Rivers and other water bodies are among
the worst affected areas, as waste and other forms of garbage
are being dumped into them at an alarming rate. To tackle this
problem, there have been many initiatives and ideas, one of
which is the robotic drainage trash cleaning boat. A prototype
robotic trash boat we developed which can harvest floating
trash from drainage systems. The trash bot can be operated
online/remotely. A robotic drainage trash cleaning boat is an
autonomous watercraft that is designed to collect and remove
trash and other floating waste from water bodies, such as rivers,
lakes, and canals. These boats are equipped with advanced
sensors, cameras, and other technologies that enable them to
detect and collect different types of trash, including plastics,
metals, and other waste. The bot can be controlled through
mobile app and it will move through drainage and collect trash
through conveyor and will be temporarily stored in trash
collector. The robotic trash boat operates using a
microcontroller which has the overall control over the device.
The bot is embedded with various sensors like ultrasonic
XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE
2nd Udayasri S
Department of Mechatronics Engineering
Sri Krihsna College Engineering and Technology
Coimbatore, India
20eumt082@skcet.ac.in
4th Varun S
Department of Mechatronics Engineering
Sri Krihsna College Engineering and Technology
Coimbatore, India
20eumt083@skcet.ac.in
sensor to detect if the trash container is full, GPS module for
location tracking, and camera for live tracking. Also the
locations which have been cleaned are recorded and the data is
stored in the cloud. This is the use of IOT in this device. The
boat can be controlled using a phone on a mobile app with the
help of a bluetooth module using relay. This is how the device
could be controlled using a mobile phone. These Robotic
drainage trash cleaning boats can cover a large area quickly and
efficiently, allowing them to collect more trash in less time
than manual laborers could. This makes them an effective
solution for cleaning up large water bodies or areas that are
difficult to access. Unlike traditional cleaning methods that
may involve the use of harmful chemicals or dredging
operations that can damage aquatic habitats, robotic drainage
trash cleaning boats are an environmentally friendly solution.
They can remove trash without disturbing the surrounding
ecosystem, making them a sustainable and safe option for
cleaning up waterways. Robotic drainage trash cleaning boats
are relatively cost-effective compared to other methods of
cleaning up waterways, such as manual labor or large-scale
dredging operations. Additionally, they can operate
autonomously, which reduces the need for human intervention
and can help to minimize costs further. Robotic drainage trash
cleaning boats are a promising technology that could play a key
role in cleaning up the world's waterways. By improving water
quality, reducing pollution, and promoting sustainable and
environmentally friendly practices, these boats can have a
positive impact on both the environment and the people who
depend on it.
II. LITERATURE STUDY
[1] Dharmesh N. Kandare, Aniket N. Kalel, Aniket S.
Jamdade, Gitesh P. Jawale., Their system can stay at one
place & clean the in range loop area & then move to other
places & cleans the other in range loop areas. Hence it enables
the system with ‘Area-Wise Cleaning’ rather than Point
Cleaning. The project's goal is to remotely manage the sewage
cleaning procedure in the drainage system to stop infections
from spreading to people. It claims that the method limits the
spread of infections to humans by limiting human involvement
in the cleaning process. Since the main goal of the project is to
clean up water resources and reduce water pollution, it can be
said that it is "Eco-friendly." Additionally, one of its secondary
goals includes remotely regulating the system to lessen human
contact with contaminated water and, thus, the risk of
infections that could impact people.
[2] S.H.Y.S. Abdullah, M.A.A Mohd Azizudin, A. Endut., A
smaller size of trash collector boat has been designed to collect
waste and floating solid from a narrow and small area such as
small streams and drainage system. The trash collector boat
was designed with an automatic conveyor system to collect the
floating solids and can be remotely controlled from a distance.
Designing and creating a prototype of a mobile trash collection
boat for use in tight spaces is the primary objective of this
study. In order to come up with the best design for the trash
collector boat, engineering design methodology and system
analysis were used.
[3] P. Elavarasi,S. A. Meenupriya,M. Monira, P. Priya, P.
Reni., The boat is manufactured and designed in this system to
be passed in the drains. The boat will be equipped with a
camera to find the trash and pick it up. Since drainages are
primarily massive. There will be floating rubbish like bottles
and plastic wastes, which will merely obstruct the path for
drain water to travel. Therefore, when it notices floating
rubbish, the robotic arm will be opened, collecting the trash.
This process repeats until the trash can is full, at which point
the waste is thrown into the hub. The system has an PiNoIR
camera which detects down the waste by image processing and
the automated robotic arm will collect the floating trash and
this will have a bin in the boat where the trash will be stored.
When IR sensor gives out this information that bin is full ,
automatically the boat will move to the hub with an help of
GPS and the trash will be thrown over there.
[4] Siddhanna Janai , H N Supreetha , Bhoomika S ,
Yogithashree R P, Pallavi M., The proposed system design
employs sensors to record parameters such as the detection of
obstacles & their distance from the boat, and identification of
living or non-living organisms. Based on the sensors' readings,
the boat and robotic arm are controlled for picking up the
floating trashes in the water based on the Arduino Uno
platform. The boat and robotic arm are controlled for collecting
the floating rubbish in the water based on the sensor readings.
The two steps of the system design concept are the robotic arm
in the second stage and the assembly of the water boat with
sensors in the first stage. The design and development of a real-
time robotic system based on Arduino uno for surface trash
collection in the waterbodies is presented in this paper. The
proposed work utilizes two sensor mechanism to detect and
collect the garbage.
[5] S. Arun Kumar, S. Sasikala., Their proposed hardware
consists of a Raspberry pi 3 board to control the movement of
the robot along with gripper, motors, ultrasonic sensor and IR
sensor.Their prototype of the developed system exhibits good
accuracy with less processing time and high speed for all
possible test conditions. The Raspberry Pi, DC motors, and
proximity sensors used in this lake cleaning system allow for
detection and movement. The rotating blades begin to turn
when the sensor senses a static obstruction, pushing the trash
into a container that is set up directly behind the device. The
usage of a lake cleaning robot for the control and management
of aquatic waste is justified by the performance of the baseline
prototype model of the proposed system tested in a real-time
mimicked environment
[6] Sakshi Kannav, Siddharth Karambelkar, Shreyas
Karanjkar, Sudaman Katti, Rashi Khabiya, Prof. Dr.
Umesh Chavan., An end-to-end robotic system was developed
using Arduino Mega microcontroller interfaced with sensors
and actuators. A remote controller-based sewage cleaning
embedded system is achieved by use of Radio Frequency (RF)
transmitter and receiver modules in addition with relays,
switches, motors and a metallic casing setup. The robot is
autonomous and traverses the path and collects the waste using
a recruitment navigation algorithm. These techniques, which
can be employed by people everywhere, are very effective,
cost-efficient, and will automate the current infrastructure for
river surface cleaning. This is exactly what our water cleaning
bot project will do. This idea seeks to offer automatic control to
remove trash from the water's surface.
[7] Harsh Sankar Naicker , Yash Srivastava, Akshara
Pramod, Niket Paresh Ganatra, Deepakshi Sood, Saumya
Singh, Velmathi Guruviah., It has a conveyor belt that
collects the garbage, but no power source mentioned, and
collects it on the raft itself, weight constraints not mentioned. It
is cheap, uses recycled materials to build the bot, but there is no
controllability of the bot once it is put to action. A complete
solution for water care is provided by the end-to-end ecosystem
that links the bot placed on the water on one end with the
cameras on the water's edge and the mobile devices of local
authorities. The suggested method uses a computer vision
algorithm powered by Mobilenet-SSD to find trash floating in
bodies of water. With its accurate tracking of moving objects
and alerts when the virtual fence set in the frame is crossed, the
virtual fencing concept that has been offered is novel. Last but
not least, the proposed rapid notification system for local
authorities is a reactive tool that may be combined with on-site
logistics to start rapid activities on the coastlines where people
may be at risk..
[8] Shalini Ajay Singh, Priyanka Sunil Ambre, Prof. Neha
Rai,Prof. Jayesh Rane., This project “Solar Operated Water
Trash Collector” is to remove garbage, debris and solid waste
from water bodies and make it clean. The main aim of this
concept is to reduce man power and time consumption for
cleaning the river. This system will be also helpful for cleaning
river lakes and other water bodice. The system is basically a
boat kind of thing which will float to various corners of the
water body, cleaning the light and floating wastes present in the
water. It uses solar power as a main power source, thus by
using alternate source of energy and recycling of water.. To
increase the effectiveness of the garbage collecting in this
device, advanced conveyor technology and conveyor materials
will be used. Instead of using batteries to power the boat, we
can instead use the solar panel. The boat's size is adjusted so
that it is more capable of collecting rubbish. This project is
only created for a tiny lake, but it may be used in larger lakes
and rivers, such as the Ganges, by making certain changes to its
capacity and size. This machine's primary function in this
project is to remove waste materials from the water's surface
and deposit them in a tray. It consists of a conveyor
arrangement that is mounted on the motor shaft. Conveyor
rotated because of the motor's rotation. The conveyor collects
plastics, trash, and other waste from water bodies as it moves.
The waste debris in the water will be raised as the machine is
submerged and will migrate upward. The trash will fall into the
tray once it reaches the uppermost extreme point. Thus, this
will lead to the safe collecting of waste debris from water and
the cleansing of water surface.
[9] Dr.Poornima R, Dr.Sathish Kumar T M, Veeramani R, and methods to initiate. The calculations which are necessary to
Karuppanasamy K, Rameshkumar J, Jothimani M, validate the design are carried out and shown here.
Mahendran R., Design and prototype development of portable
trash collector. The project is aimed at purifying the BEARING LOAD CALCULATION
environment, especially swimming pools, using renewable
energy to make the sun a more efficient source of energy. The Radial load of ball bearing(Fr) = 700 N
primary objective is to implement the use of solar energy to Thrust load of ball bearing(Fa) = 300 N
power the waste collection machinery. By using a filter Service factor(s) = 1.2
mechanism, our system collects the waste and deposits it in a Hours in use per week = 35
chamber at the back. The shaft, which is set on the bottom Number of years = 3
frame, is bolted to the water wheel. The water wheel's function Speed N = 500 Rpm
is to propel the device forward or backward through the water. Diameter of Shaft = 15 mm
The water wheel is turned by the motor with the aid of a chain
drive system. This motor also drives the filter-powered waste LIFE OF BEARING
collection system. Finally, the bin that is positioned within the
boat is used to collect the floating trash. Total life of bearing = 35 x 3 x 52 = 5460 hrs
Equivalent Load = P = ( X Fr + y F a) S
[10] Miss. Amruta Khot, Miss. Shreya Kamble, Miss. Load factor = x = 0.56
Sanghamitra Gaikwad, Miss. Komal Chougale, Miss. Gauri Thrust factor = 1.4 (FROM PSGDB 4.4 AND 4.6)
Chavan , Prof.R.M.Malkar., In this project the operation of P = (0.56 X 700 + 1.4 x 300 ) 1.2 = 812 N
river cleaning is automated with the help of a motor and chain Loading ratio = C/P= 6.2 (FROM PSGDB 4.14)
drive arrangement. Here using RF transmitter and receiver the C = 6.2 X P= 6.2 X 812 = 5034 N
cleaning machine can be controlled. The goal of the suggested C = 880 Kg f = 8800 N
solution is to reduce or eliminate the issue encountered while Since C = 8800 > 5034, the Selected bearing is suitable.
employing man-operated machinery. It reduces the increased Selected bearing = SKF6302.
rate of garbage dumping. The garbage disposal device may be
operated remotely and wirelessly via Bluetooth. By providing a TORQUE CALCULATION
brief message to the user, it alerts the user if the box is full with
garbage. N=30 RPM ,12 VOLT ,P = 18 WATT
TORQUE OF THE MOTOR
III. PROPOSED METHODOLOGY Torque = (P X 60) / (2 X 3.14 X N) = (18X 60) / (2 X 3.14 X
30)
Our drainage cleaning bot is automated using a Torque = 5.72 Nm
microcontroller, which drives and harvests floating trash Torque = 5.72 x 10³ Nmm
mainly designed to withstand long term in drainages. The bot The shaft is made of MS and its allowable shear stress = 42
is embedded with different sensors and can be controlled MPa
through mobile phone. Motors and gears are used for collecting Torque = 3.14 x fs x d ³ / 16
trash and storing in bin, propellers are used for moving around. 5.72 x 10³ = 3.14 x 42 x d ³ / 16
D = 8.85 mm
CONTROL FLOW The nearest standard size is d = 9 mm.
This is our proposed way to operate our trash bot and this an
effective way of utilizing all the equipment which are CALCULATION OF CONVEYOR MOTOR
integrated in this machine with microcontroller as shown in
Figure 1. Mass = 1kg
speed = 2 km/hr = 0.5m/s
Rolling resistance = G*m*a
= 0.1*1*5
= 0.5N
Power required to overcome rolling resistance = 0.5 *0.5
= 0.25 watts
Gradient resistance = m* a * sin𝛉
= 4.25
Power required to overcome gradient resistance = 4.25 * 0.5
= 2.125 watts
Total power = 2.125 + 0.25 = 2.375 watts

CALCULATION OF CHAIN AND SPROCKET

STEP 1 : To determine the velocity ratio of the chain drive:

Velocity ratio = N1/N2
= 100/20
Fig. 1 =5

IV. DESIGN CALCULATION STEP 2 : Select the minimum number of teeth on the smallest
The first step of doing any working model is to make a proper sprocket or pinion
design or sketch of it. This gives a clear idea about the project Minimum number of teeth on sprocket = 21

STEP 3: Calculate number of teeth on the larger sprocket
Minimum number of teeth of larger sprocket= 105
STEP 4 : To Determine Design load
Design load = Rated power x Service factor(Ks)
= 0.25 x Service factor (Ks)
= 0.25 x ( (Load factor(K1) x (Lubrication factor
(K2) x Rating factor (K3)
= 0.25 x (1.5 x 1 x 1.25) = 0.45kW
program it in low-level machine instructions that can be
interpreted by the chip hardware. This level of integration is
not a problem using the ESP8266 as an embedded controller
chip in mass-produced electronics. It is a huge burden for
hobbyists, hackers, or students who want to experiment with it
in their own IoT.

STEP 5 : Selection of chain (7.71)

Types of chain = simple roller chain (06B)
Power rating (in kW) = 0.25
Speed of smaller sprocket or pinion (RPM) = 100
ISO chain number = 06B
Pitch (mm) = 9.525
Roller diameter (mm) = 6.535 Fig. 2 Node MCU
Minimum width (mm) = 5.72
Braking load (simple type roller chain) in kN = 8.9 POWER WINDOW MOTOR

STEP 6 : To determine pitch circle diameter The power window motor consists of a small electric motor and
Pitch circle diameter (D) = p / (sin (180/T)) a gear system. It has four mounting hole positions. There is a
= 9.525 /(sin (180/21)) working voltage of 12 volts DC current. The unit is waterproof
= 9.525 / (sin (8.57)) and ISO 9001 certified.The no-load speed or speed when no
= 63.90 mm torque is applied to the motor shaft is 95 rotations per minute
(rpm) and the no load current is less than 1.5 amperes. When
STEP 7 : To determine pitch line velocity of the smaller the switch is activated, the motor turns, and the gear system
sprocket converts the rotational motion into linear motion, which moves
Pitch line velocity = 𝚷dN/60 the window up or down along the window tracks. Power
= (3.14 x 0.065 x 100) / 60 window motors are available in different sizes and strengths to
Pitch line velocity = 0.34m/s accommodate various window sizes and weights. They are
Load W= Rated power/pitch line velocity designed to be durable and long-lasting.
W = 0.25/ pitch line velocity
W= 0.25 / 0.34
W = 0.25 / 0.34
W = 0.735kN
Load on the chain W= 735N

STEP 8 : To Determine Factor of safety

Factor of safety = (WB/W)
= 8.9/0.735
Factor of safety = 12.1 (7.77)

STEP 9 :Fix the centre distance between the sprockets

Center distance between sprockets = 900mm
Fig. 3 Power Window Motor
STEP 10: Calculation of length of chain
L = 1200mm RELAY

V. DESCRIPTION OF EQUIPMENTS A relay is an electronic component that is used to switch

NODE MCU
The Node MCU (Node MicroController Unit) is an open-
source software and hardware development environment built
around an inexpensive System-on-a- Chip (SoC) called the
ESP8266. The ESP8266, designed and manufactured by
Expressive Systems, contains the crucial elements of a
computer: CPU, RAM,networking (Wi-Fi), and even a modern
operating system and SDK. That makes it an excellent choice
for Internet of Things (IoT) projects of all kinds. However, as a
chip, the ESP8266 is also hard to access and use. You must
solder wires, with the appropriate analog voltage, to its pins for
the simplest tasks such as powering it on or sending a
keystroke to the “computer” on the chip. You also have to
electrical circuits on and off. It works by using an
electromagnet to move a set of contacts, which allows a circuit
to be completed or broken.
Relays come in many different types and configurations, but
they all work on the same basic principle. When an electrical
current is passed through the coil of a relay, it generates a
magnetic field that attracts a metal armature. This armature
then moves a set of contacts, either opening or closing the
circuit depending on the design of the relay. Relays can be used
to switch both AC and DC circuits, and they are available in a
wide range of voltage and current ratings.
Relays are often used in circuits that require high power or
voltage, or where electrical isolation is needed between two
circuits. They can also be used to control multiple circuits from
a single control signal.

Fig. 4 Relay
LEAD ACID BATTERY
A 12-volt 7.2 Ah lead acid battery is a type of rechargeable
battery commonly used in various applications such as
automotive, marine, and backup power systems. It consists of
six cells, each producing 2 volts, connected in series to produce
a total voltage of 12 volts. The lead acid battery is known for
its reliability and durability, making it a popular choice in the
market. It is a type of wet-cell battery, meaning it contains
liquid electrolyte that interacts with lead plates to generate
electrical energy.
Fig. 5 Lead Acid Battery
GPS
A GPS (Global Positioning System) module is an electronic
device that receives signals from GPS satellites and calculates
the module's precise location on the Earth's surface.
A GPS module typically consists of a GPS receiver, an
antenna, and a microcontroller. The GPS receiver receives
signals from GPS satellites, which transmit information about
their precise location and the time the signal was sent. The GPS
receiver uses this information to calculate the module's location
on the Earth's surface, as well as its velocity and direction of
travel.The antenna is used to receive the GPS signals, and it is
typically mounted on the exterior of the device to ensure it has
a clear view of the sky. The microcontroller is used to process
the GPS data and make it available to other devices, such as a
display or a communication module.
Fig. 6 GPS
ULTRASONIC SENSOR
An ultrasonic sensor is a type of electronic sensor that uses
sound waves to detect the presence or absence of an object. It
works by emitting a high-frequency sound wave and then
measuring the time it takes for the wave to bounce back after it
has hit an object. The time delay is then used to calculate the
distance between the sensor and the object.
Ultrasonic sensors typically consist of a transmitter, a receiver,
and a microcontroller. The transmitter emits a high-frequency
sound wave, typically in the range of 20 kHz to 200 kHz. The
sound wave travels through the air until it hits an object, at
which point it is reflected back to the sensor. The receiver then
detects the reflected sound wave and measures the time delay
between the transmission and reception of the sound wave.
This time delay is then used to calculate the distance between
the sensor and the object.They are relatively low cost and easy
to use, and they provide a non-contact way to detect the
presence or absence of objects.
Fig. 7 Ultrasonic Sensor
CHAIN DRIVE
Chain drive is a way of transmitting mechanical power from
one place to another. It is often used to convey power to the
wheels of a vehicle, particularly bicycles and motorcycles. It is
also used in a wide variety of machines besides vehicles. The
power is conveyed by a roller chain, known as the drive chain,
passing over a sprocket gear, with the teeth of the gear meshing
with the holes in the links of the chain. The gear is turned, and
this pulls the chain putting mechanical force.
Fig. 8 Chain Drive
OV7670 CAMERA
The OV7670 is an image sensor module designed by
OmniVision Technologies. It is a low-cost camera module that
can capture VGA (640 x 480) resolution images and videos at
30 frames per second. The OV7670 camera module is widely
used in projects where visual data is required.
It has an 8-bit RGB parallel output interface that can be easily
connected to microcontrollers such as the Arduino, Raspberry
Pi, or other embedded systems. It also has a built-in image
processing pipeline that can perform functions such as
automatic exposure control, white balance, and color
correction.The OV7670 camera module has a number of
configuration registers that can be used to set various
parameters such as exposure time, gain, brightness, contrast,
and saturation. These registers can be accessed using a two-
wire Serial Camera Control Bus (SCCB) interface, which
allows the user to easily adjust the camera settings.The
OV7670 camera module can be used with various lens
configurations to provide a wide range of focal lengths and
fields of view.
Fig.5.9 OV7670 camera
VI. FUTURE SCOPE
In future, this can be more efficiently made into an automated
machine, and be made to move autonomously through the
drainage and as soon as it is full it will move itself to the
located hub nearby and unload it itself .
VII. RESULTS AND DISCUSSION
Robotic trash collection boats are efficient, cost-effective, and
environmentally friendly. They are capable of collecting vast
amounts of waste in a short period, which makes them ideal for
cleaning up our waterways. By reducing the amount of plastic
pollution in our water systems, these robotic boats can help
improve water quality, protect aquatic life, and preserve natural
ecosystems. Furthermore, the use of robotic technology in
environmental management systems has far-reaching benefits
beyond just cleaning up waste in waterways. It can also provide
valuable data on the quality and quantity of waste in water
systems, which can help identify the sources of pollution and
inform targeted interventions to reduce pollution at its source.
The development and deployment of robotic trash collection
boats require collaboration between various stakeholders,
including policymakers, environmental agencies, and
technology developers. Public-private partnerships can play a
critical role in supporting the development of these
technologies, ensuring their effective implementation and
scaling up their use to have a significant impact on
environmental management.
VIII. CONCLUSION
In conclusion, the development of a robotic trash collection
boat for drainage systems is a significant step towards
addressing the growing problem of water pollution. The impact
of plastic pollution on the environment is enormous, and the
need for effective solutions has never been more urgent. The
emergence of robotics technology and its integration into
environmental management systems is one such solution that
has the potential to revolutionize the way we deal with waste in
our waterways. However, it is essential to acknowledge that
while robotic trash collection boats can contribute significantly
to addressing water pollution, they are not a panacea for all
environmental problems. More comprehensive solutions that
tackle the root causes of pollution, such as reducing plastic
production and consumption, are also necessary. Robotic boats
should be viewed as part of a broader suite of measures that
work together to protect our waterways and the environment as
a whole. In summary, the emergence of robotics technology in
environmental management systems provides a unique
opportunity to address water pollution and protect our natural
environment. The development and deployment of robotic trash
collection boats for drainage systems is a step in the right
direction towards a cleaner, healthier, and more sustainable
future. However, it is important to recognize that these
technologies are part of a broader set of solutions needed to
tackle environmental problems and that collaboration between
stakeholders is essential to ensure their success.
IX. REFERENCES
[1] Miss. Amruta Khot, Miss. Shreya Kamble, Miss.
Sanghamitra Gaikwad, Miss. Komal Chougale, Miss. Gauri
Chavan , Prof. R.M.Malkar,”Solar Based River Water Garbage
Collector”,in IARJSET,in 2022.
[2] Dr.Poornima R, Dr.Sathish Kumar T M, Veeramani R,
Karuppanasamy K, Rameshkumar J, Jothimani M, Mahendran
R,”Solar Powered Floating Water Trash Collector”,in IJIRT,in
2022.
[3] Shalini Ajay Singh, Priyanka Sunil Ambre, Prof. Neha
Rai,Prof. Jayesh Rane,”Design of Solar Power Water Trash
Collector”,in IRJES,vol.10,in 2022.
[4] Harsh Sankar Naicker , Yash Srivastava, Akshara Pramod,
Niket Paresh Ganatra, Deepakshi Sood, Saumya Singh,
Velmathi Guruviah,”Water Care: Water surface cleaning bot
and water body surveillance system”,in 2022.
[5] Sakshi Kannav, Siddharth Karambelkar,Shreyas Karanjkar,
Sudaman Katti, Rashi Khabiya, Prof. Dr. Umesh
Chavan,”Surface Water Garbage Collector”,in
IRJET,Vol.8,2021.
[6] S. Arun Kumar, S. Sasikala,”Effective Aquatic Waste
Removal through Lake Cleaning Robot for Smart city
Environment”,in IJITEE, 2020.
[7] Siddhanna Janai , H N Supreetha , Bhoomika S ,
Yogithashree R P, Pallavi M,”Swachh Hasth - A Water
Cleaning Robot”,in IJERT,vol.9,2020.
[8] P. Elavarasi,S. A. Meenuppriya,M. Monira, P. Priya, P.
Reni,”Artificial Intelligence Enabled Robotic Trash Boat to
Drive and Harvest Floating Trash from Urban Drain”,in
IJESC,2020.
[9] S.H.Y.S. Abdullah, M.A.A Mohd Azizudin, A. Endut
,”Design and Prototype od Portable Trash Collector Boat for
Small Stream Application”,in IJITEE,Vol.8,in 2019.
[10] Dharmesh N. Kandare, Aniket N. Kalel, Aniket S.
Jamdade, Gitesh P. Jawale ,”Design & Construction of River
Cleaning Mechanism”,in IJISRT,2018.