CleanSweep 11
CleanSweep 11
The benefits of robots has increased their flexibility with being capable
of performing a variety of tasks and applications. They are more precise and
consistent than human workers. Robots also allow for increased production
and profit margin because they can complete tasks faster
SYSTEM SPECIFICATION
Hardware Requirements:
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LIST OF FIGURES
Figure No.
Figure Title
Page No.
1.1
Title Block Diagram of the system
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2.1
Arduino Mega Front
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2.2.1(A)
Pin configuration of L293D
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2.4
Bluetooth Module
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4.1
Full Development System
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LIST OF TABLES
Table No.
Table Title
Page No.
2.2
Behaviours of motor for different input conditions
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4.1
Operation of components in different modes
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Ch-1 Introduction
CleanSweep is a smartphone controlled robot that cleans your house's floor!
The rotating mops on the front of the robot along with a foam roller (used to
paint walls, not here) at the back can do the job perfectly. There's also a
water pump and water reservoir which can be switched on when required to
throw water on the floor and make the mops moist for a proper clean. The
foam roller is movable, which means you can lift it when not in use. I've also
UNO. The robot is powered on a 12V lead acid battery, the ideal voltage for
all motors used here.. The driver motor pair are 100rpm ones while for the
The best part is that the mops used were homemade, from old CDs and rags
and they clean just perfectly. This is a smaller version so might not be
Obstacle avoidance
Floor detection
Collision detection
Fan motor monitoring
Light Sensing
Real Time Clock
System on automatically
Components:
2.3 DC Motor
Almost every mechanical movement that we see around us is
accomplished by an electric motor. Electric
machines are means of converting conventional energy.
Motors take electrical energy and produce
mechanical energy. Electric motor is used to power hundreds
of devices we use in everyday life. An
example of motor used in day to day life is automobiles, food
blenders and so is vacuum cleaner.
2.5 IR Sensor
The sensor consists of two eyes. One eye sends the infrared light
and the other eye sees the reflection of
that infrared light and measures the distance which is then sent
to the Arduino through analog input to
perform further operations based on the distance. There are three
wires coming from the sensor .i.e. Red,
Black and White or it can be Red, Brown and Yellow. Red is
connected to 5V of Arduino. Black or brown
to Ground of Arduino. White or yellow to analog input pin of
Arduino i.e. in this case to analog pin 0.
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Ch-5 Conclusion
Conclusion:
A cheaper and user friendly Vacuum Cleaner robot can be
developed with two different mode of controlling
(Manual and Autonomous mode) using an Arduino Board with
more electronics functionality. Battery
monitoring, self-charging, lighter body weight and to set alarm
on/off time manually are the future scope of
this project.
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References
floor! The rotating mops on the front of the robot along with a foam
roller (used to paint walls, not here) at the back can do the job
perfectly. There's also a water pump and water reservoir which can be
switched on when required to throw water on the floor and make the
mops moist for a proper clean. The foam roller is movable, which
means you can lift it when not in use. I've also added speed controls
battery, the ideal voltage for all motors used here.. The driver motor
pair are 100rpm ones while for the mops I've used 75rpm plastic ones.
The best part is that the mops used were homemade, from old CDs and
rags and they clean just perfectly. This is a smaller version so might
not be suitable for a large area. There can be tons of other features
The following parts and tools are required for building this project:
Parts:
1x Arduino UNO
2x Old CDs
Vinyl tubing
Rainbow wire
Male/female headers
Perforated board
Plywood base
Tools:
Drill
Rotatory tool
Pliers
Wire cutter/stripper
Paper cutter
Tape
The first step is to prepare the base on which the parts will be placed.
For this, first get a piece of plywood cut, measuring 12x9 inches. The
painted it in white and orange stripes with black at the borders with
acrylic paints.
After this, drill two holes each at the back for both the motor clamps.
other. Fix them in place using some screws then attach the motors to
the clamps.
I found this idea on one of the YouTube videos (click here). To make
cheap DIY circular floor moppers, you can use old compact disks along
First mark a circle on the cloth which should be bigger than the CD.
this one.
After you're done with all the folds, make 2-3 knots at the end and cut
Attach wheels to both the plastic geared motors. Hot glue the wheels
to the CDs.
The moppers have to be placed in the front. Hot glue the motors in
such a way that the cloth stays away from each other and the motors
are at an equal distance from the sides. Make sure the cloth properly
This consists of a 12V water pump which carries the water from the
reservoir and spills it near the mops on the floor. First mark, drill and
Take a 600ml empty plastic bottle and cut it into half using a paper
cutter. Use the lower half and place it on the robot base using some
hot glue.
Take two pieces of rubber tubing. One will be connected to the inlet of
pump to take water from the reservoir from the pump and the second
one will be used to take water from the pump to the floor. Adding
The pump can be switched on/off via your smartphone just like other
controls.
First you need to drill a hole on the servo attachment. Drill another
hole of almost same size on the roller handle as well. Use a screw to
The motor will have to be placed at a height so the roller touches the
floor and can be lifted easily. Use two 7x2.5 centimetres wooden
For the mop geared motors and the water pump to be controlled via
to run but arduino can only provide a 5V output. I used TIP122 NPN
Also, I soldered some male and female headers to make +5V and Gnd
power rails as these pins are limited on the arduino and we need
Now this is always the typical part. You have to be accurate. For
Before that, drill some holes and fix your arduino in place using some
screws.
some wire to the motor terminals and then connect them to the screw
terminals of the driver circuit. The rest of the pins have to be
battery later
Rx ---- Tx on Arduino
Tx ---- Rx on Arduino
Add a voltage divider to signal pins if you're afraid that the signal pins
The two mop motors have to be connected in parallel such that the left
one runs anticlockwise and the right one turns clockwise when seen
from the front. Use heat shrink tubes to keep the connections safe.
Solder the motor wires to the transistor circuit as per the schematic
circuit and then this 12V will go to the Vcc of arduino and the motor
driver circuit.
common ground wire from all the motors has to be connected to the
Gnd on arduino.
Keep all the circuit boards, wires, tubings in place with hot glue. It
should look neat, the wires shouldn't entangle and the connections
Next, take two straws and cut them about 7cm in length. Crush and
squeeze one end of both into the outlet pipe of the water pump. Bend
both of them in opposite directions and glue them in place such that
water flows from both the straws and falls just a little ahead of the
rotating mop (look at the pictures). Don't forget to put some tape
where the straws are connected so the water doesn't leak.
Connect the board to a pc and program it with the code given below.
Make sure you set the correct COM port and Board under Tools.
After it's done, replace the Rx and Tx wires. You'll need to remove
Attachments
Code_for_CleanSweep.ino
Download
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Step 10: Attach the Battery
3 More Images
For the power source, it's your choice about the type of battery to use.
Use some double sided tape or hot glue to keep the battery pack in
place. +Ve terminal will go to the transistor circuit from where it will
go to Vcc on arduino and to the motor driver circuit. -Ve terminal will
remove the source if LEDs dim rapidly and recheck all the connections.
Do not use a very high voltage else the regulator on the board may
overheat.
Controller' which lets you set your own control buttons and commands.
Next, go on the 'names' icon so set the display names for each button.
set the following stop commands ONLY for the buttons mentioned
below:
Button 1: 'S'
Button 2: 'S'
Button 3: 'S'
Button 4: 'S'
Button 8: 'p'
This means that example if button 2 isn't pressed, the command 'S'
To connect the robot, first pair up the bluetooth module named 'HC-05'
Press and check all the buttons on the app one by one.
projects as well.
This can still have a lot of modifications. I was thinking to make it fully