Ramudroid - an autonomous robot to clean roads

1. Ramudroid
A solar powered robot to clean roads
by Altanai Bisht
Presentation for Women in Robotics Boston
( 10 Aug 2021 )

2. 2
Hello!
I am Altanai Bisht
Inventor of
RamuDroid, a friendly
autonomous Road-
Cleaning robot

3. I am a student of MS in Computer Science at Seattle university.
I am also a SME in CPaaS, carrier-grade WebRTC-SIP telecom
platforms for Unified communication-collaboration, signalling
gateways, SBC, soft turrets, IoT-surveillance and telecom
integrations.
Ardent contributor to Open Source software, avid freelancer.
Interests include classification, detection and optimization for
real time time Communication.
Author of the book WebRTC Integrator's Guide,
https://www.packtpub.com/in/web-development/webrtc-
integrators-guide
website: https://telecom.altanai.com/
Linkedin - https://www.linkedin.com/in/altanai/
3

4. Littering and illegal dumping
- Unsegregated waste
- Environmental Problems
- Attracts pests
- One visible piece of litter , encourages
more people to litter around the same
place
- disruption in waterways
- possibility of a fire
- Biohazard ( used masks ,
syringes )
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Problem

5. 5
Problem
Geograph Ireland
Debris along Edergole Road © Kenneth Allen
cc-by-sa/2.0 :: Geograph Ireland
Img source : alamy

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Img source : the logical indian
Img source : getty images

7. Robot to pick up litter
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- Identifies garbage
- Pick and collects into bin
- Prevents garbage accumulation
- Surveillance to nab the culprits

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Ramudroid’s Working principle for garbage collection
1. Litter comes between rotating
brushes
2. Litter is picked by brushes
and pushed upwards
3. Brushes push it towards the
tray

9. 9
WebRTC uv4l
driver
Node Js
webserver
WebRTC
browser
Js modules
WebRTC
Server
Signalling over
ws and wss
Webrtc session
@altanai
http://raspberrypi:9000/stream
/webrtc
VP8/VP9
/Opus
HTTP
REST
mongo
Live Streaming on WebRTC Peer 2 peer
Camera Feed
Logs
Recorded
videos
MCU or TURN

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12. Improvisations
Ramudorid v 7.5
(aka Surajdroid)
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An autonomous robotic vehicle to pick up litter from roads
- No vacuum , uses brushes , Energy efficient
- Solar Energy Driven
- Targets litter using computer vision
- Real Time Surveillance via direct streaming

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15. Garbage Classification
Classify recyclable from non-
recyclable garbage
Sun tracker PV
Maximize power gain by
tracking the sun and titling the
angle for the PV
Senors
- Co2
- Gas
- rain
- Humidity
- Heat
Track elevation, Angular
Velocity and acceleration
MPU6050
(accelerometer/gyroscope) and
AK8963 (magnetometer)
3D mapping of terrain
● LiDar – depth sending
● Steroscopic vision –
dual camras
Reinforcement Learning
RoadMap
15

16. Dashboard / Console
Remote control for the robot
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17. Ramudorid v2 Web control Dashboard for Robot navigation
and control with WebRTC based p2p streaming
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18. V5 GPS navigation , sensors , Augmented reality
integration on WebRTC stream
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19. V7.5 Real Time Streaming Console
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20. Hardware and Assembly
Equipment and Working Components
20
Driving Unit
Cleaning Unit
Body and chassis

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Power And Charge Devices
1. Solar Panel MicroSun MS 12v 60 WP
2. Solar charger Controller
3. Battery 11.1 V 2200 mAh
Frame and Motion Assembly
1. Wheels 10 cm diameter
2. Tray
3. Frame Assembly
4. Arduino to control Motors Drivers
5. Motor Driver
6. LCD display
Electronics , Communicating modules and Sensors
1. Raspberry Pi Moddel B+/ 4
2. GPS module
3. GSM module
4. Camera 5 MP Board Module

22. Architecture and Components
Diagrammatic description of Robot and its associated system
22

23. How it started and how is it going
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24. Ramudorid v7.5 ( aka Surajdroid) back assembly
(yes it needs an enclosure ! )
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25. System Diagram
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26. Power and Design
Solar power + battery backup
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Solar specification
● Maximum Power (Pmax) – 60 Wp
● Voltage at Maximum Power (Vmpp) – 18.1 V
● Current at Maximum Power (Impp) – 3.32 A
● Open Circuit Voltage (Voc) – 22.32 V
● Short Circuit Current (Isc) – 3.63 A
● Standard Test Conditions (STC): air mass AM 1.5, irradiance 1000W/m2, cell Temperature 25°C
● Maximum System Voltage 1000 V
Material Data
● Panel Dimension (H/W/D) 705x655x35 mm
● Weight 6 kg
● Cell - Polycrystalline ,156×156 mm
● Cell Number 36

28. Garbage Detection
Computer Vision and Image training
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29. Model training on garbage
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Analytics on
Garbage
Identification
stats

32. Ramudroid in the Making
Questions ??

33. Presenting Ramudroid @OpenSourceIndia
33
Presenting Ramudroid
@TeachforIndia
Presenting Ramudroid v5 at Grace
Hopper ( 2017)

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This presentations uses the following typographies and colors:
● Titles: Amatic SC
● Body copy: Merriweather
● Presentation template by SlidesCarnival
● Photographs by Unsplash
● PPT theme
Credits :

35. Extra Resources
More facts / Links

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37. Robot Communication Modules
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38. To learn more or contribute to open source
HackerDay
https://hackaday.io/project/17380
1-surajdroid
Github
Its Open Source ! & You
are welcome to contribute
https://github.com/altanai/
Ramudroid
38
https://medium.com/ramudroid