Kerala Technological Congress (KETCON-2018 Human Computer Interface)
The Yard Robo
Anju Linet Paul 1
Anna J moyalan2 Anumariya Joseph3
Electronics and Electronics and Electronics and
communication communication communication
Sahrdaya college of Sahrdaya college Sahrdaya college of
engineering of engineering engineering
anjulinet@gmail.com Annajmoyalan20 Anumariyajoseph03
@gmail.com @gmail.com
Abstract— Waste disposal is a crucial problem in daily life
particularly in developing countries like India. Presently in India,
sanitary workers are using the oldest devices like brooms, iron
plates and bamboo baskets for primary collection of solid waste.
But these require lots of effort and if the area of sweeping is
bigger it requires more man power and time to clean such areas.
As a solution to manual primary waste disposal, a cost effective
garbage cleaning robot “THE YARD ROBO” is developed. The
multipurpose yard cleaning machine has a wide range of
applications. It can be used for cutting the grass in required area.
And the main highlight of this project is it uses solar energy
instead of power supply. Working on the basic principle of
science, the project is a collaboration of mechanical, electrical
and electronic devices.This robot can reduce the manpower and
it can automatically clean the yard and also chops the
unnecessary grass on that area and also it sucks the waste formed
over there. It can also work in automatic and manual mode. This
paper presents a detailed qualitative study of cleaning system
with minimum utilization of resources available.
Index Terms—Waste disposal,sweeper,grass cutter,
environmental friendly, suction mechanism, wireless
communication, automatic and manual mode, minimum
resources.
I. INTRODUCTION
Sweeping is one of the day to day work in our life. Some of
the conventional equipment like broom is used for this
purpose. But it requires lots of effort for sweeping , if the
area for sweeping is large like gardens ,bus and railway
1
Anju Maria4 Dinna Davis5
Electronics and Electronics
communication communication
Sahrdaya college of Sahrdaya college of
engineering engineering
anjumariashaju@ya dinnapuzhakkal@
hoo.in gmail.com
station, municipal ground, yards etc. In such cases sweeping
becomes a hectic process. There might be a good possibility
for back pain if the person is continuously doing the sweeping
work with the broom. Similarly to chop or pluck unnecessary
grass and weeds on the yard is also a tiresome job. Even
though some modern equipments are available nowadays to do
such work they may require skilled man power to operate and
have higher cost. Other major disadvantage of such
equipments are it requires continous supply of electricity and
fuel to operate. Also such equipments require proper
maintenance. So “THE YARD ROBO” have choosen an
another way to make such cleaning equipment having lower
cost and which does not requires much fuel supply or
electricity and skilled operator. One of the main advantage of
this work is it eliminates the backpain problem and reduces
the human effort behind cleaning and fatigue while doing
continous cleaning operation. As compared to conventional
cleaning process it requires less time and reduces number of
persons for cleaning.
The main objective of this yard robo is to provide a substantial
solution solution for the problem of manufacturing robotic
cleaner utilizing local resources by keeping it low costs. In
this case manual work is taken over the technology of robot
and many of the robot appliances are used extensively. This
yard robo can work by using both battery and solar. For the
purpose of wireless communication between remote and robot
we are using RF module. IR sensor is also used for obstacle
detection to determine whether waste is overloaded. The yard
robo can also work in any of the two modes that is automatic
 Kerala Technological Congress (KETCON-2018 Human Computer Interface)
and manual. This project also consist of automatic grass
cutting machine with the help of remote.
A proper and effective cleaning is essential to protect the
health of human beings directly and indirectly. The present
work is intended to designed for the development and
evaluation of a manually operated yard cleaning machine. For
better nation cleaning is one of the important factor so as to
support this we have designed an automatic multipurpose yard
cleaner.
II. LITERATURE REVIEW
Xueshan Gao proposed a a floor cleaning robot with Swedish
wheels. It can work in autonomous and teleoperated mode with
high efficiency. Uses ultrasonic range for obstacle detection
and is equipped with automatic power management for
optimized performance and signals the low battery condition.
Proposed cleaning systems have characteristics of being driven
differentially and have a castor wheel for support which is
equipped with ultrasonic sensors, gyroscopes, laser scanners
etc., mostly used with single cleaning system. Features of this
work are small size, light weight and can clear an area of
15m2 per hour. It can work in domestic, complex and crowded
environments.
Bincy Abhraham introduced a automatic grass cutter which
makes the motor running through solar energy. The different
sensors are used it will detect and avoid objects and humans
while mowing. . System uses 12V battery to power the vehicle
movement motors and grass cutter motor. The grass cutter and
vehicle motors are interfaced to pic microcontroller which
controls the overall working of the motors. The ultrasonic
sensor interfaced to it is used for obstacle detection The main
objective of this automatic grass cutter is that the user can
specify the area that is to be mown and also the height of grass
as per their requirement. This design contains DC motor, relay
switch for controlling motor, Battery for charging it through
solar panel
Uman Khalid discussed on robot operates in autonomous
mode as well as in manual mode. The mechanical design of
robot including chassis design, brushing, vacuum cleaning
mechanism and bag less dirt container with auto-dirt disposal
mechanism.The system make decisions based on the outputs
of infrared proximity sensors, ultrasonic sensors and tactile
sensors after being processed by Arduino controller and
actuators are controlled by the H bridge circuit. In manual
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mode, the robot will clean a specific area by controlling it
manually from laptop with a Graphical User Interface (GUI)
by Bluetooth connectivity .The design include motor
controllers, vacuum cleaning controller, battery meters,
brushing motor controller, power supply to sensors,
precautionary circuit.
Sayali P Chavan designed a model is developed with
optimum cost , high mechanical efficiency, and a new
algorithm for area filling. The motion of robot is controlled by
using two wheels coupled with stepper motors which is
controlled using Arduino board .Ultrasonic sensors are used
for obstacle detection. Proposed system have not used vacuum
pump for used water collection and the technique of water
collection is mechanically efficient and cheaper. Area filling,
localization and mapping can be found out using the data from
position encoders of motors, ultrasonic sensors, and a
graphical user interface. The logic which has been developed
for mapping, localization and navigation can also be used for
other applications like autonomous lawn movers, autonomous
vacuum cleaners.
Manya Jain proposed a project is used for domestic and
industrial purpose to clean the surface automatically by
reducing human effort .The main focus of the project is that it
can move around freely and clean a specific area by the
vacuuming process. The controller is used to drive the motors
and the suction unit coupled with ultrasonic sensors are used to
avoid the obstacles and changes direction accordingly. This
design contains ATmega 328p/ Arduino , Ultrasonic sensor
(SC-H04) , Motor driver (L293D) , Suction unit.
III. DESIGN AND DEVELOPMENT
Fig -1: Flow chart of design and fabrication methodology
1. Existing work analysis to identify problems and
requirements.
2. Selection of fabrication materials.
3.Designing the structure of robo.
 Kerala Technological Congress (KETCON-2018 Human Computer Interface)

4. Analysis of design and optimization. (12V), ATMEGA328P, RF modules, relay circuit, L293D, IR
5. Start of fabrication. sensors .
6. Testing and evaluation of overall performance of robo.
7. Adding the necessary modifications. ATMEGA328P is core of this system which controls all
8. Presentation and report formation. operations and energized with 5V power. ATMEGA328P is
A. CONSTRUCTION used because of its better features like low power, high
performance CMOS 8bit microcontroller ,8bit AVR Risc-
The figure shows the actual three dimensional structure of the
based microcontroller combines 32 kB ISP flash memory with
yard robo. The robo mainly consists of three units. The wheel
read-while-write capabilities, 1 kB EEPROM, 2 kB SRAM,
drive, cutting unit, mechanical sweeping arm unit. The whole
23 general purpose input output lines, 32 general purpose
assembly is mounted on a frame made up metal sheet and light
working registers, three flexible timer with compare modes,
in weight. Towards the fore part of the body which we call the
internal and external interrupts, serial programmable USART.
chassis is the sweeping unit. On middle section of the machine
is mounted for occupying the wastes. The sweeping unit is RF module provides wireless communication between remote
attached via a motor which rotates to clean the yard. On the and robot and operates at 5V supply and its operating range is
back side is a high speed cutter this cutter rotates at high speed 50m. IR sensors are used here for the obstacle detection. If the
to cut out the grass towards the sides of the yards. Lastly the waste is overloaded it will sense and inform us through an
wheel drive mechanism on which the whole machine will alarm.Five motors are used in this system, two motor used to
move. The mechanism is fitted with the help of metal clamps drive the wheels while two motors for sweeping purpose and
and moves with the help of motors. By the use of this the one motor used for cutting action. DC gear motors are used to
vehicle moves front back as well as takes turn. This is a brief drive the robot L293D IC used to drive the wheel motor
description of the machine’s construction. because of its features like 600ma output current capability
per channel, over temperature protection and having high
B.WORKING noise immunity and it requires 12V power to work. Relay is
used because of its efficient switching characteristics.
The multipurpose yard cleaning robot has a wide range of
applications. The yard robo can work in both manual and
automatic mode according to the requirements.
ATMEGA328P is the microcontroller used in this project.
Solar energy can be used as the power supply for the working
of the circuit. RF module can transmit or receive the signal
between remote and robot. By using the remote pins,
movement of the robot can be controlled. A motor
driver,L293d consists of dc motor which is mainly used for the
movement of the robot. LM358 which is an IR sensor is used
for the obstacle detection. Sweeping and cutting are also
controlled by the dc motors .Sweeping will be done only after
cutting. During sweeping, robot can absorb the wastes and put
it into the container. If the waste exceed, alarm will be
activated. The main advantage is it doesn’t requires any
fuel.This is the basic working of the yard robo project.

IV.ADVANTAGES OF PROPOSED SYSTEM.

C.BLOCK DIAGRAM DESCRIPTION

TABLE I.COMPARISON TABLE

The block diagram for this proposed project “THE YARD
ROBO” has shown in fig. 1 for better understanding of the
project. Block diagram consist of a integration of power

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 Kerala Technological Congress (KETCON-2018 Human Computer Interface)

V.CONCLUSION

The main motive of this project is to cover the aspects of

cleanliness in the yard. The intended objectives were
Sl FEA PRESENT PREVIOUS successfully achieved in this Project “THE YARd ROBO”.
No. TURES WORK(THE WORK This is easy to use, low-cost and does not need any special
YARD ROBO) training. This paper reviews and exploits the existing
1 cost Rs. 12000 More than developments .It reduces labour since sweeping, cleaning,
12000 grass cutting can be done by a single machine. This machine
2 Solar used yes No
uses mainly electrical parts; so we don’t have to mess with gas
3 IR Sensor Yes ,for obstacle No
and oil. These machines are great for people who simply want
detection
things done faster. It can be used by all age groups as it is
4 Mode of Automatic and Only
operation manual mode automatic basically a remote controlled device. It is ideal for people with
mode mobility issues. It requires minimal maintenance and saves
5 RF Module Available for Not lots of time. Our low budget product rids one of a daily
wireless available cleaning headache and moreover it is cost effective and energy
communication efficient.
6 Fuel usage No Yes ,which
leads VI. FUTURE
wastage of WORK
fuel In the proposed system further upgrading will involve a
7 Dual mode Yes since No since advance visualization of the range of land in order to estimate
cutting and cutting and
effective sweep width by this the yard robo can be controlled
sweeping can be sweeping
by mapping the specific areas where sweeping and cutting are
done at same cannot work
time at same required. The additional features that may be added in
time autonomous cleaner robot are GPS control system using
8 Alarm Used Yes to detect Not Used mobile phones for cleaning process. The control is also
overloading for detecting enhanced by controlling the robot by Bluetooth or zigbee. By
overloading implementing solar panel in the robot we can charge the battery
using light energy which can enhance the robot to operate in
power failure condition. Size can be reduced to make it
compact

ACKNOWLEDGMENT
We would like to take this opportunity to express
deep regard and profound gratitude to Ass Prof. Jisha Jacob
for her guidance, constant encouragement and valuable
feedback throughout the work. The perceptive criticism kept
us working to accomplish the project in a better way. We
would also like to acknowledge Sahrdaya college of
Engineering Sciences & Technology, Calicut University for
providing necessary facilities. Finally, we would like to again
thank the outstanding group of people, the cabal of supremely
positive individuals who encouraged, pushed and supported us
throughout the long period of this project.

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 Kerala Technological Congress (KETCON-2018 Human Computer Interface)

REFERENCES [3] Uman Khalid, Faculty of Electronic Engineering, Ghulam

Ishaq Khan Institute of Engineering Sciences and Technology,
[1] Xueshan Gao, Kejie Li, Yan Wang, Guangliang Men, and
Pakistan
Dawei Zhou Intelligent Robotics Institute Beijing Institute of
[4] Sayali P Chavan, Dept. of Prod. Engg. & Industrial Mgmt.
Technology Beijing, China ,xueshan.gao@bit.edu.cn COEP, Pune sayaleechavan007@gmail.com,
mrd.prod@coep.ac.in
[2] Bincy Abraham, B.Tech Student, Department of Electrical
[5]ManyaJain,B.Tech in Electronics Engg. BVDUCOE, Pune,
and Electronics Engineering, Mar Athanasius College of
Maharashtra,India
Engineering, Kothamangalam, Kerala, India