IAES International Journal of Robotics and Automation (IJRA)

Vol. 14, No. 3, September 2025, pp. 332~338

ISSN: 2722-2586, DOI: 10.11591/ijra.v14i3.pp332-338  332

River cleaning robot using Arduino microcontroller

Dubala Ramadevi1, Kalagotla Chenchireddy2, Barkam Rekha1, Sunkari Prathyusha1,

Koriginja Shravani1, Karnati Bhargavi1
1
Department of Electronics and Communication Engineering, Teegala Krishna Reddy Engineering College, Meerpet, India
2
Department of Electrical and Electronics Engineering, Geethanjali College of Engineering and Technology, Hyderabad, India

Article Info ABSTRACT

Article history: River cleaning robots represent a promising technological solution to
address the pervasive issue of water pollution in river systems. These
Received Jan 22, 2025 autonomous devices are designed to collect and remove various types of
Revised Jun 11, 2025 debris from river environments, contributing to improved water quality and
Accepted Jul 10, 2025 ecosystem health. This abstract summarizes the key aspects of river cleaning
robots, including their technological advancements, operational mechanisms,
and environmental impact. River cleaning robots have evolved significantly
Keywords: from early mechanical designs to sophisticated autonomous systems.
Initially, these robots were equipped with basic skimming and collection
Arduino mechanisms. Recent advancements have incorporated state-of-the-art
Control system technologies, including artificial intelligence, machine learning, and
Robotic arm advanced sensor systems. Modern river cleaning robots can autonomously
Sensors navigate complex river environments, detect and classify different types of
Servo motor debris, and operate efficiently with minimal human intervention. The
operational capabilities of these robots are enhanced by various design
features such as mobility systems, debris collection mechanisms, and
renewable power sources. Mobility systems allow robots to maneuver
through diverse water conditions, while collection mechanisms like nets,
scoops, and suction devices enable effective debris removal. Many robots
are powered by renewable energy sources, such as solar panels, which
contribute to their sustainability and reduce their environmental footprint.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Dubala Ramadevi
Department of Electronics and Communication Engineering, Teegala Krishna Reddy Engineering College
Meerpet, Telangana, 500097, India
Email: dubalarama@gmail.com

1. INTRODUCTION
River pollution poses significant threats to human health, aquatic life, and ecosystems, with floating
garbage being a particularly challenging issue to address. Wireless river-cleaning robots offer a promising
solution by autonomously detecting and collecting floating waste without requiring human intervention. These
robots, equipped with sensors like cameras, ultrasonic devices, and water quality sensors, use image processing
to identify garbage, avoid obstacles, and navigate waterways safely. Additionally, a built-in collection system
gathers floating debris, while data on the cleaning operations is stored on a website for monitoring. This paper
focuses on designing and developing such a wireless robot to reduce water pollution, minimizes environmental
impact, and protect aquatic life [1]–[5]. Waterlogging caused by plastic, thermocol, and metal waste leads to
health issues like malaria and typhoid. Manual cleaning methods are inefficient and risky due to exposure to
infectious microorganisms. This study proposes an effective garbage collection system designed to clean waste
from rivers, channels, and lakes. The system targets floating debris, including litter, logs, and tires, and
incorporates IoT technology for monitoring and control. The vessel is designed to operate in various

Journal homepage: http://ijra.iaescore.com

IAES Int J Rob & Autom ISSN: 2722-2586  333

environments, including inland waterways, enhancing its utility for cleaning water bodies [6]–[10]. Ocean
garbage poses a severe threat to marine life, with rivers being major contributors. Efforts to address this include
reducing single-use plastics and transporting waste from rivers. This paper introduces a river-cleaning robot
designed to collect surface waste. Equipped with Robot Vision technology, the robot detects and collects trash
into a storage tank. The robot operates using Python and includes detailed descriptions of its components and
working system. The goal is to help control waste growth and protect the environment [11]–[15]. Water, a vital
natural resource, is increasingly polluted by human waste, especially plastic. This research introduces a solar-
powered robotic boat designed to collect plastic waste from lakes, rivers, and drains, ensuring cleaner water
surfaces. The boat features intelligent sensors, DC motors, and IoT-based control via a mobile app using the
ESP32 controller. It efficiently gathers lightweight recyclables like plastic bottles into a storage container and
monitors waste levels using an ultrasonic sensor. Tests demonstrated its ability to travel long distances and
operate effectively within network range. This portable garbage collector aims to raise awareness of water body
conditions and promote environmental sustainability [16]–[20].
This paper introduces an autonomous waste collection robot designed to clean water surfaces
efficiently. The robot uses a conveyor system powered by a servo motor to collect debris, garbage, and
plastics, while a water wheel driven by a BLDC motor enables movement on water. It features an advanced
computer vision system based on the YOLOv5s algorithm and employs sensors like GPS, Compass, and a
camera for navigation and waste detection. Key hardware components include a Raspberry Pi, Flight
Controller, LiPo Batteries, and Transceivers. Experimental results highlight the robot's effectiveness in
autonomous cleaning, contributing to environmental conservation and river pollution management [21]–[25].

2. BLOCK DIAGRAM
The robot block diagram for river cleaning is displayed in Figure 1. In this work, an Arduino-based
smart building automation system with programming software is presented. The system has a very useful and
convenient cost configuration and supports a variety of sensors. Though it employs technology to create a
better place, the design and execution of building management system (BMS) and the completion of many
types of green projects today are similar in many aspects. This system helps us to minimize human labor. Our
project's major features include an RFID module for gate opening and shutting, common area illumination, a
keypad for door opening and closing, and fire detection and main system alerts. For the purpose of testing the
system and presenting it in real time, every hardware sensor and Arduino component is assembled into the
best possible demonstration model. The intelligent BMS environment is correlated and animated with the aid
of these models. The function becomes easily understood. A dependable circuit known as BMS has
responsibility for managing the several systems that are employed within it. “Uno” was chosen to
commemorate the release of Arduino Software (IDE) 1.0 since it means “one” in Italian. The reference
versions of Arduino were the Uno board and version 1.0 of the Arduino Software (IDE), which has since
been replaced by more recent versions. The Uno board is the first in a series of USB Arduino boards, and the
reference model for the Arduino platform, for an extensive list of current, past or outdated boards.

Figure 1. Block diagram of river cleaning ROBOT

3. OPERATION OF RIVER CLEANING ROBOT USING BLUETOOTH MODULE

The operation of a river cleaning robot using a Bluetooth module involves a systematic process to
remotely control and automate the cleaning of water bodies. The robot is equipped with a microcontroller
(e.g., Arduino or ESP32) that acts as the central processing unit, paired with a Bluetooth module (such as

River cleaning robot using Arduino microcontroller (Dubala Ramadevi)

334  ISSN: 2722-2586

HC-05 or HC-06) for wireless communication. This setup allows the operator to control the robot using a
smartphone or other Bluetooth-enabled devices. The robot is typically mounted on a buoyant chassis to
ensure it remains afloat while navigating the water surface. The cleaning robot’s movement is managed via
DC motors or servo motors that are connected to the microcontroller. Commands such as forward, backward,
left, and right are transmitted via Bluetooth from the controlling device. The microcontroller interprets these
commands and adjusts the motor operations accordingly. This functionality allows the operator to guide the
robot to specific areas in the river or pond where waste is concentrated. Advanced systems may include
autonomous navigation, with ultrasonic or infrared sensors detecting obstacles and adjusting the robot’s path.
Table 1 and Figure 2 show the river cleaning robots. For cleaning purposes, the robot is outfitted
with a collection mechanism, such as a conveyor belt or a robotic arm, designed to scoop or lift floating
debris from the water surface. As the robot moves, waste material is gathered onto the conveyor belt and
deposited into an onboard storage compartment. This bin can be emptied manually once the cleaning
operation is complete. The system ensures effective removal of pollutants like plastic, leaves, and other
floating debris. The Bluetooth module plays a crucial role in simplifying the operation of the river cleaning
robot. Enabling wireless communication eliminates the need for physical connections, allowing the operator
to maintain a safe distance from the water body. Bluetooth terminal applications or custom-built apps on
smartphones are used to send control commands, making the system user-friendly and versatile. Additionally,
the robot can be enhanced with sensors to monitor water quality or detect hazardous materials, expanding its
utility beyond waste collection. This technology offers a cost-effective and environmentally friendly solution
to tackle water pollution. It is particularly suitable for cleaning small- to medium-sized water bodies, such as
rivers, lakes, and ponds. By leveraging Bluetooth-controlled robotics, the system provides a scalable,
efficient, and easily operable method to address the growing concern of aquatic waste management.

Table 1. River-cleaning robots use a combination of mechanical

Debris Type Handling Method
Large floating objects Grippers, arms, or conveyor belts lift and store them
Small plastics Fine mesh nets or rotating drums trap smaller particles
Organic debris (leaves, twigs) Separated or filtered out to avoid clogging systems
Mixed waste Sorting compartments or post-processing at shore stations

Figure 2. Circuit diagram of river cleaning robot

IAES Int J Rob & Autom, Vol. 14, No. 3, September 2025: 332-338
IAES Int J Rob & Autom ISSN: 2722-2586  335

4. PROTOTYPE RESULTS
The water level sensor's output is displayed in Figure 3. Sensors are used by the suggested system to
keep an eye on its surroundings. Table 2 lists the pH values of the different solvents that were determined
using the pH sensor. With a value ranging from 0 to 14, the pH sensor determines how acidic and alkaline
water and other liquids are. The threshold value for evaluating the water's quality was established using these
data. Waves cause the water source's water level to fluctuate constantly. If the water level is within the
normal range, it is checked. The administrator or user will be informed of any unusual changes in the rise in
water level. The water level sensor's output. The waste collection rate depends on the robot's design, flow
conditions, and debris density. For a typical river-cleaning robot prototype: Average collection rate: 20 to 80
kg of waste per hour, factors affecting rate: speed of water current, size and buoyancy of waste, efficiency of
the robot’s conveyor or collection mechanism, debris density in the target area.

Table 2. Comparison: prototype vs. existing river-cleaning methods

Criteria Robot Prototype Traditional Methods
Automation High – autonomous or semi-autonomous Low – manual labor or controlled machinery
Efficiency Continuous collection (24/7 operation) Intermittent, depends on human resources
Waste Collected 20–80 kg/hr (prototype); up to 2000+ kg/hr (full scale) ~100–500 kg/day (manual teams)
Operating Cost Higher upfront, lower long-term Low upfront, higher ongoing labor cost
Scalability Modular, can be deployed in fleets Hard to scale without proportional manpower
Environmental Impact Minimal with proper design Potential damage if not carefully managed

Figure 3. The output of the water level sensor

5. CONCLUSION
The river cleaning robot represents a significant advancement in the field of environmental
management, offering a modern solution to the ongoing challenge of maintaining clean and healthy water
bodies. Its autonomous capabilities and advanced technologies provide several Enhanced Efficiency: The
robot's ability to operate continuously and cover large areas makes it a highly efficient tool for debris
removal. This efficiency translates to improved water quality and more effective management of aquatic
environments. Cost-Effective Solution: By reducing the need for manual labor and operating with minimal
human intervention, river cleaning robots can lower overall cleanup costs and provide sustainable long-term
solution. Increased Accessibility: The robot's design allows it to reach areas that are difficult or hazardous for
human workers, ensuring comprehensive cleaning of water bodies, including narrow channels and shallow
regions. Improved Safety: Handling potentially dangerous tasks, such as cleaning polluted or contaminated
waters, reduces risks to human health and safety. Environmental and Educational Impact: Beyond its
practical applications, the robot serves as a tool for environmental monitoring and public education, raising
awareness about water pollution and showcasing technological innovations in environmental management.
However, it is important to consider potential challenges such as high initial costs, maintenance
requirements, and operational limitations in adverse conditions. Addressing these challenges through ongoing
research, development, and refinement will enhance the effectiveness and reliability of river cleaning robots.

River cleaning robot using Arduino microcontroller (Dubala Ramadevi)

336  ISSN: 2722-2586

FUNDING INFORMATION
The authors declare that no funds, grants, or other support were received during the preparation of
this manuscript.

AUTHOR CONTRIBUTIONS STATEMENT

This journal uses the Contributor Roles Taxonomy (CRediT) to recognize individual author
contributions, reduce authorship disputes, and facilitate collaboration.

Name of Author C M So Va Fo I R D O E Vi Su P Fu
Dubala Ramadevi ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Kalagotla Chenchireddy ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Barkam Rekha ✓ ✓ ✓ ✓ ✓ ✓ ✓
Sunkari Prathyusha ✓ ✓ ✓ ✓ ✓ ✓ ✓
Koriginja Shravani ✓ ✓ ✓ ✓ ✓ ✓ ✓
Karnati Bhargavi ✓ ✓ ✓ ✓ ✓ ✓ ✓

C : Conceptualization I : Investigation Vi : Visualization

M : Methodology R : Resources Su : Supervision
So : Software D : Data Curation P : Project administration
Va : Validation O : Writing - Original Draft Fu : Funding acquisition
Fo : Formal analysis E : Writing - Review & Editing

CONFLICT OF INTEREST STATEMENT

The authors declare that they have no conflicts of interest to disclose

DATA AVAILABILITY
Data availability is not applicable to this paper as no new data were created or analyzed in this study.

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BIOGRAPHIES OF AUTHORS

Dubala Ramadevi working as assistant professor in the Department of

Electronics and Communication Engineering, Teegala Krishna Reddy Engineering College,
Hyderabad, India. She has completed her master’s in engineering with majors in VLSI &
embedded systems from Vasavi College of Engineering, Osmania University, India. She
completed her Bachelor of Technology in electronics and communication engineering from
Bhoj Reddy Engineering College for Women, Hyderabad, India. She can be contacted at
dubalarama@gmail.com.

Dr. Kalagotla Chenchireddy received his B-Tech and M-tech from JNTU
Hyderabad, Hyderabad, India, in 2011 and 2013 respectively and completed Ph.D. in Karunya
Institute of Technology and Sciences, Karunyanagar, Coimbatore, TN, India in 2024. He is
working presently as associate professor in Geethanjali College of Engineering and
Technology, Hyderabad, India. He has presented technical papers at various national and
international conferences and published papers in Scopus and Web of Science index journals.
His area of interest includes power electronics, power quality, and multilevel inverters. He is a
regular reviewer of ISA Transactions, Cybernetics and Systems SCIE journals, IJPEDS and
IJAPE. He can be contacted at kchenchireddy.eee@gcet.edu.in.

Mrs. Barkam Rekha is working as assistant professor with 12 years of

experience in the Department of Electronics and Communication Engineering, Teegala
Krishna Reddy Engineering College, Hyderabad, Telangana, India. She has completed Master
of Technology with the specialization of VLSI system design from Mahaveer Institute of
Science & Technology, Hyderabad, India. She has completed her Bachelor of Technology in
electronics and communication engineering from Jatipita College of Engineering, Adilabad,
India. She can be contacted at rekhab0611@gmail.com.

River cleaning robot using Arduino microcontroller (Dubala Ramadevi)

338  ISSN: 2722-2586

Sunkari Prathyusha is working as assistant professor in the Department of

Electronics and Communication Engineering, Teegala Krishna Reddy Engineering College,
Hyderabad, India. She has completed her master’s in engineering with majors in VLSI system
design from TKR College of Engineering and Technology, India. She completed her Bachelor
of Technology in electronics and communication engineering from Sree Dattha College of
Engineering and Technology, Hyderabad, India. She can be contacted at
prathyusha.sunkari@gmail.com.

Koriginja Shravani is working as assistant professor in the Department of

Electronics and Communication Engineering, Teegala Krishna Reddy Engineering College,
Hyderabad, India. She has completed her master’s in engineering with majors in digital
electronics and communication systems from Jagruthi Institute of Engineering and
Technology, India. She completed her Bachelor of Technology in electronics and
communication engineering from Samskruthi College of Engineering and Technology,
Hyderabad, India. She can be contacted at sravani.koriginja@gmail.com.

Karnati Bhargavi is working as assistant professor in the Department of

Electronics and Communication Engineering, Teegala Krishna Reddy Engineering College,
Hyderabad, India. She has completed her master’s in engineering with majors in embedded
system design from Malla Reddy Engineering College for Women, India. She completed her
Bachelor of Technology in Electronics and Communication Engineering from Swarna
Bharathi Engineering College, Hyderabad, India. She can be contacted at
karnati.bhargavi475@gmail.com.

IAES Int J Rob & Autom, Vol. 14, No. 3, September 2025: 332-338