A

PROJRCT REPORT
On

IOT BASED AUTONOMOUS FLOOR CLEANING ROBOT

 CHAPTER-1

ITRODUCTION

1.1 Background

Cleaning is Important work approximate every place. Sometimes this is easy and
sometimes difficult. Sometimes we assigned people for purpose of cleaning and pay money and
sometimes cleaning is required in areas where presence of living being dangerous so we cannot
assigned living being in every place. Some places are so that have a large floor areas in that
place for cleaning purpose we need more than one person so we required some technique to
compensate these problems. In advancement of science a robot come in light but it operate by a
personnel. To avoid this limitation of personnel we require more technologies.

Automation is a great solution of this problem. So we make an autonomous floor

cleaning robot that operated by internet of things and Arduino Nano programming.
Ultrasonic sensor is the most important component for autonomous floor cleaning robot
because ultrasonic sensor works as eyes of robot. Ultrasonic sensor useful for turning of
robot by sense the obstacle or wall. Sensing distance range of robot set by Arduino Nano
programming. In this range robot sense the obstacle and turn back.

Households of today are becoming smarter and also more automated. Home automation
delivers convenience and creates more time for people. Domestic robots are entering the
homes and people’s daily lives, but it is yet a relatively new and immature market. However,
a growth is predicted and adoption of domestic robots is evolving. Several robotic vacuum
cleaners are available on market but only few ones implement wet cleaning of floors.

Purpose of this project is design and implement a Vacuum Robot Autonomous and
Manual via Phone Application named as blynk. Vacuum Cleaner Robot is designed to make
cleaning process become easier rather than by using manual vacuum.

The main objective of this project is to design and implement a vacuum robot
prototype by using Arduino Nano, motor driver Ultrasonic Sensor and to achieve the goal of
this project. Vacuum Robot will have several criteria that are user-friendly.

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1.2 Objective

Objective of this project is to design the automatic floor cleaning robot in order to
work human hazards place and to skip need of personnel. To develop an autonomous
robotics system using internet of things and to design a floor cleaning robot without human
to the driving. Mainly it is used when obstacle are less and large area is required to be clean.
Mostly problem occurs during large floor that the human capability. Its means that in large
floor areas the human can get tired. In areas like nuclear plants or chemical industries the
dangerous radiations, chemicals, air, pollutions can make a man sick or death.

So this robot has applicable in that places. There are many features are added in this
project like vacuum cleaner in front side and a wiper motor and water pump in middle for
tightly wet cleaning of floor. Vacuum cleaner suck solid particle and clean floor after that
wiper make tightly cleaning.

1.3 Scope Of Project

The scope of this project is to develop an automatic device that can derived from
control room by internet of thing that work of sweeping floor without need of personnel and
we need to just click a start button of the robot in smartphone application. This project has a
scope in the areas like a large floor area, human hazards area in industries like nuclear plant
chemical plant and the areas where threat of dangerous gasses presence.

1.4 IOT- Overview

IOT (Internet of Things) is an advanced automation and analytics system which

exploits networking, sensing, big data, and artificial intelligence technology to deliver
complete systems for a product or service. These systems allow greater transparency,
control, and performance when applied to any industry or system.

IOT systems allow users to achieve deeper automation, analysis, and integration
within a system. They improve the reach of these areas and their accuracy. IOT utilizes
existing and emerging technology for sensing, networking, and robotics.

IOT exploits recent advances in software, falling hardware prices, and modern attitudes
toward technology. Its new and advanced elements bring major changes in the delivery of
products, goods, and services and the social, economic, and political impact of those changes.

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 IOT systems have applications across industries through their unique flexibility and
ability to be suitable in any environment. They enhance data collection, automation,
operations, and much more 0through smart devices and powerful enabling technology.

Figure 1.1 IOT Future Challenges

1.5 IOT- Features Key

The most important features of IOT include artificial intelligence, connectivity, sensors,
active engagement, and small device use. A brief review of these features is given below:

 AI – IOT essentially makes virtually anything “smart”, meaning it enhances every

aspect of life with the power of data collection, artificial intelligence algorithms, and
networks. This can mean something as simple as enhancing your refrigerator and
cabinets to detect when milk and your favorite cereal run low and to then place an
order with your preferred grocer.
 Connectivity – New enabling technologies for networking, and specifically IOT
networking, mean networks are no longer exclusively tied to major providers.
Networks can exist on a much smaller and cheaper scale while still being practical.
IOT creates these small networks between its system devices.
 Sensors – IOT loses its distinction without sensors. They act as defining instruments
which transform IOT from a standard passive network of devices into an active
system capable of real-world integration.

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  Active Engagement – Much of today's interaction with connected technology
happens through passive engagement. IOT introduces a new paradigm for active
content, product, or service engagement.
 Small Devices – Devices, as predicted, have become smaller, cheaper, and more
powerful over time. IOT exploits purpose-built small devices to deliver its precision,
scalability, and versatility.

1.6 IOT − Advantages

The advantages of IOT span across every area of life style and business. Here is a list
of some of the advantages that IOT has to offer:

 Improved Customer Engagement – Current analytics suffer from blind-spots and

significant flaws in accuracy; and as noted, engagement remains passive. IOT
completely transforms this to achieve richer and more effective engagement with
audience.

 Technology Optimization – The same technologies and data which improve the
customer experience also improve device use and aid in more potent improvements
to technology. IOT unlocks a world of critical functional and field data.
 Reduced Waste – IOT makes areas of improvement clear. Current analytics give us
superficial insight, but IOT provides real-world information leading to more
effective management of resources.
 Enhanced Data Collection – Modern data collection suffers from its limitations and
its design for passive use. IOT breaks it out of those spaces and places it exactly
where humans really want to go to analysis our world. It allows an accurate picture
of everything.

1.7 IOT − Disadvantages

Though IOT delivers an impressive set of benefits, it also presents a significant set of challenges.
Here is a list of some its major issues:

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  Security – IOT creates an ecosystem of constantly connected devices communicating over
networks. The system offers little control despite any security measures. This leaves users
exposed to various kinds of attackers.
 Privacy – The sophistication of IOT provides substantial personal data in extreme detail
without the user's active participation.
 Complexity – Some find IOT systems complicated in terms of design, deployment, and
maintenance given their use of multiple technologies and a large set of new enabling
technologies.
 Flexibility – Many are concerned about the flexibility of an IOT system to integrate easily with
another. They worry about finding themselves with several conflicting or locked systems.
 Compliance – IOT, like any other technology in the realm of business, must comply with
regulations. Its complexity makes the issue of compliance seem incredibly challenging when
many consider standard software compliance a battle.

1.8 Technology and Protocols

Process extension within the IOT network. They exploit integration with critical business
systems (e.g., ordering systems, robotics, scheduling, and more) in the execution of related
tasks.

 Data Collection

This software manages sensing, measurements, light data filtering, light data security,
and aggregation of data. It uses certain protocols to aid sensors in connecting with real-
time, machine-to-machine networks. Then it collects data from multiple devices and
distributes it in accordance with settings. It also works in reverse by distributing data
over devices. The system eventually transmits all collected data to a central server.

 Device Integration

Software supporting integration binds (dependent relationships) all system devices to

create the body of the IOT system. It ensures the necessary cooperation and stable
networking between devices. These applications are the defining software
technology of the IOT network because without them, it is not an IOT system. They
manage the various applications, protocols, and limitations of each device to allow
communication.

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  Real-Time Analytics

These applications take data or input from various devices and convert it into viable
actions or clear patterns for human analysis. They analyse information based on
various settings and designs in order to perform automation-related tasks or provide
the data required by industry.

1.9 Application and Process Extension

These applications extend the reach of existing systems and software to allow a wider,
more effective system. They integrate predefined devices for specific purposes such as
allowing certain mobile devices or engineering instruments access. It supports improved
productivity and more accurate data collection. IOT primarily exploits standard protocols
and networking technologies.

However, the major enabling technologies and protocols of IOT are RFID, NFC, low-
energy Bluetooth, low-energy wireless, low-energy radio protocols, LTE-A, and Wi Fi-
Direct. These technologies support the specific networking functionality needed in an IOT
system in contrast to a standard uniform network of common systems.

Figure 1.2 Internet of Things Integration of Platforms and Applications

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1.9.1 Common Uses

 RFID technology employs 2-way radio transmitter-receivers to identify and track

tags associated with objects.
 NFC consists of communication protocols for electronic devices, typically a mobile
device and a standard device.
 Low-Energy Bluetooth

This technology supports the low-power, long-use need of IOT function while
exploiting a standard technology with native support across systems.

 Low-Energy Wireless

This technology replaces the most power hungry aspect of an IOT system. Though
sensors and other elements can power down over long periods, communication links
(i.e., wireless) must remain in listening mode. Low-energy wireless not only reduces
consumption, but also extends the life of the device through less use.

 Radio Protocols

Zig Bee, Z-Wave, and Thread are radio protocols for creating low-rate private area
networks. These technologies are low-power, but offer high throughput unlike many
similar options. This increases the power of small local device networks without the
typical costs.

 Wi Fi - Direct

Wi Fi-Direct eliminates the need for an access point. It allows P2P (peer-to-peer)
connections with the speed of Wi Fi but with lower latency. Wi Fi-Direct eliminates
an element of a network that often bogs it down, and it does not compromise on
speed or throughput.

IOT has applications across all industries and markets. It spans user groups from those
who want to reduce energy use in their home to large organizations who want to streamline their
operations. It proves not just useful, but nearly critical in many industries as technology
advances and we move towards th0e advanced automation imagined in the distant future.

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1.9.2 Engineering, Industry and Infrastructure

Applications of IOT in these areas include improving production, marketing, service

delivery, and safety. IOT provides a strong means of monitoring various processes; and real
transparency creates greater visibility for improvement opportunities. The deep level of
control afforded by IOT allows rapid and more action on those opportunities, which include
events like obvious customer needs, nonconforming product, malfunctions in equipment,
problems in the distribution network, and more. IOT also used in robotics such as floor
cleaning robot, wall making robot etc.

 Example

Joan runs a manufacturing facility that makes shields for manufacturing equipment.
When regulations change for the composition and function of the shields, the new
appropriate requirements are automatically programmed in production robotics, and
engineers are alerted about their approval of the changes.

1.9.3 Government And Safety

IOT applied to government and safety allows improved law enforcement, defence,
city planning, and economic management. The technology fills in the current gaps, corrects
many current flaws, and expands the reach of these efforts. For example, IOT can help city
planners have a clearer view of the impact of their design, and governments have a better
idea of the local economy.

 Example

Joan lives in a small city. She’s heard about a recent spike in crime in her area, and
worries about coming home late at night. Local law enforcement has been alerted
about the new “hot” zone through system flags, and they’ve increases their presence.
Area monitoring devices have detected suspicious behaviour and law enforcement
has investigated these leads to prevent crimes.

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1.9.4 Home and Office

In our daily lives, IOT provides a personalized experience from the home to the office
to the organizations we frequently do business with. This improves our overall satisfaction,
enhances productivity, and improves our health and safety. For example, IOT can help us
customize our office space to optimize our work.

1.9.5 Environmental Monitoring

The applications of IOT in environmental monitoring are broad: environmental

protection, extreme weather monitoring, water safety, endangered species protection,
commercial farming, and more. In these applications, sensors detect and measure every type
of environmental change.

 Air and Water Pollution

Current monitoring technology for air and water safety primarily uses manual labour
along with advanced instruments, and lab processing. IOT improves on this
technology by reducing the need for human labour, allowing frequent sampling,
increasing the range of sampling and monitoring, allowing sophisticated testing on-
site, and binding response efforts to detection systems. This allows us to prevent
substantial contamination and related disasters.

 Extreme Weather

Though powerful, advanced systems currently in use allow deep monitoring, they
suffer from using broad instruments, such as radar and satellites, rather than more
granular solutions. Their instruments for smaller details lack the same accurate
targeting of stronger technology.

New IOT advances promise more fine-grained data, better accuracy, and flexibility.
Effective forecasting requires high detail and flexibility in range, instrument type, and
deployment. This allows early detection and early responses to prevent loss of life
and property.

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  Commercial Farming

Today's sophisticated commercial farms have exploited advanced technology and

biotechnology for quite some time, however, IOT introduces more access to deeper
automation and analysis.

Much of commercial farming, like weather monitoring, suffers from a lack of

precision and requires human labour in the area of monitoring. Its automation also
remains limited.

IOT allows operations to remove much of the human intervention in system function,
farming analysis, and monitoring. Systems detect changes to crops, soil, environment,
and more. They optimize standard processes through analysis of large, rich data
collections. They also prevent health hazards from happening and allow better control.

1.9.6 Energy Applications

The optimization qualities of IOT in manufacturing also apply to energy consumption.

IOT allows a wide variety of energy control and monitoring functions, with applications in
devices, commercial and residential energy use, and the energy source. Optimization results
from the detailed analysis previously unavailable to most organizations and individuals.

 Residential Energy

The rise of technology has driven energy costs up. Consumers search for ways to
reduce or control consumption. IOT offers a sophisticated way to analyse and
optimize use not only at device level, but throughout the entire system of the home.
This can mean simple switching off or dimming of lights, or changing device
settings and modifying multiple home settings to optimize energy use.

IOT can also discover problematic consumption from issues like older appliances,
damaged appliances, or faulty system components. Traditionally, finding such
problems required the use of often multiple professionals.

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  Commercial Energy

Energy waste can easily and quietly impact business in a major way, given the
tremendous energy needs of even small organizations. Smaller organizations wrestle
with balancing costs of business while delivering a product with typically smaller
margins, and working with limited funding and technology. Larger organizations
must monitor a massive, complex ecosystem of energy use that offers few simple,
effective solutions for energy use management.

A smart-meter still requires a reader to visit the

site. This automated meter reader makes visits
unnecessary, and also allows energy companies
to bill based on real-time data instead of
estimates over time.

Fig. 1.3 Smart Meter

IOT simplifies the process of energy monitoring and management while maintaining a
low cost and high level of precision. It addresses all points of an organization's
consumption across devices. Its depth of analysis and control provides organizations with a
strong means of managing their consumption for cost shaving and output optimization. IOT
systems discover energy issues in the same way as functional issues in a complex business
network, and provide solutions.

 Reliability

The analytics and action delivered by IOT also help to ensure system reliability.
Beyond consumption, IOT prevents system overloads or throttling. It also detects
threats to system performance and stability, which protects against losses such as
downtime, damaged equipment, and injuries.

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1.9.7 Consumer Applications

Consumers benefit personally and professionally from the optimization and data
analysis of IOT. IOT technology behaves like a team of personal assistants, advisors, and
security. It enhances the way we live, work, and play.

 Home – IOT takes the place of a full staff:

 Butler – IOT waits for you to return home, and ensures your home remains fully
prepared. It monitors your supplies, family, and the state of your home. It takes
actions to resolve any issues that appear.
 Chef – An IOT kitchen prepares meals or simply aids you in preparing them.
 Nanny – IOT can somewhat act as a guardian by controlling access, providing
supplies, and alerting the proper individuals in an emergency.
 Gardner – The same IOT systems of a farm easily work for home landscaping.
 Repairman – Smart systems perform key maintenance and repairs, and also request
them.
 Security Guard – IOT watches over you 24/7. It can observe suspicious individuals
miles away, and recognize the potential of minor equipment problems to become
disasters well before they do.

Fig. 1.4 Electric Stove

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 Work
A smart office or other workspace combines customization of the work environment
with smart tools. IOT learns about you, your job, and the way you work to deliver an
optimized environment. This results in practical accommodations like adjusting the
room temperature, but also more advanced benefits like modifying your schedule
and the tools you use to increase your output and reduce your work time. IOT acts as
a manager and consultant capable of seeing what you cannot

 Play
IOT learns as much about you personally as it does professionally. This enables the
technology to support leisure:

• Culture and Night Life – IOT can analyse your real-world activities and response
to guide you in finding more of the things and places you enjoy such as
recommending restaurants and events based on your preferences and experiences.

• Vacations – Planning and saving for vacations proves difficult for some, and many
utilize agencies, which can be replaced by IOT.

• Products and Services – IOT offers better analysis of the products you like and
need than current analytics based on its deeper access. It integrates with key
information like your finances to recommend great solutions.

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1.10 Equipment and Cost

Following equipments are used in this project and their cost is also shown in the table.

S.N Name of Equipments Quantity Cost

1 Arduino Nano 2 650

2 Battery 8V 1 300
3 Battery 12V 1 450
4 Ultrasonic sensor 1 99
5 Node MCU 1 340
6 DC shunt motor 2 500
7 Relay module 3 250
8 Water pump 1 300
9 Water tank 1 50
10 L293d 1 150
11 Ply board 1 200
12 Wheels and wheel connector 4 320
13 Vacuum cleaner 2 150
14 12V to 5V converter 2 150
15 Wiping motor 1 700
16 Connecting leads and glue - 200
17 Other - 1000
18 Total - 5809

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 CHAPTER-2

HARDWARE DESCRIPTION

2.1 Principal Componants Of Project

1. Arduino Nano

2. Ultrasonic sensor

3. Motor driver L293d

4. Node MCU

5. DC shunt motor

6. Wiper motor

7. Vacuum cleaner

2.1.1 Arduino Nano

The Arduino Nano is a surface mount breadboard compatible version of the ever-
popular Arduino micro controller. It's small with integrated on-board USB and is breadboard
friendly. As the function It has almost all the analog and digital pins that the UNO or
Duemilanove and the same function as Duemilanove or UNO. With the smaller and portable
package Arduino Nano would be more friendly and convenient for users to enter the Arduino
world and make use of Arduino to make their dream into reality.

Fig. 2.1 Arduino nano

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As a upgrade version of Arduino Nano is 100% compatible to Arduino Nano and its shield
and IDEs. On the hardware part remarkable changes are taken to improve the flexibility and
user experience. Memory of arduino nano is ATmega328 has 32 KB, (also with 2 KB used
for the boot loader) and has 2 KB of SRAM and 1 KB of EEPROM.

1.2.1.1 Arduino Nano Physical Components

 Microcontroller
In Arduino Nano 2.x version, still used ATmega168 microcontroller while the
Arduino Nano 3.x version already used ATmega328 microcontroller.

 ATmega168

ATmega168 is a low-power CMOS 8-bit microcontroller based on the AVR

enhanced RISC architecture. And its features as follow:

• High Performance, Low Power Atmel AVR 8-Bit Microcontroller Family

• Advanced RISC Architecture
131 Powerful Instructions o Most Single Clock Cycle Execution o 32 x 8 General
Purpose Working Registers Fully Static Operation Up to 20 MIPS Throughput at
20MHz on chip- cycle multiplier.8V
• Peripheral Features
Two 8-bit Timer/Counters with Separate Pre scalar and Compare Mode o One 16-
bit Timer/Counter with Separate Pre scalar Compare Mode, and Capture Mode o
Real Time Counter with Separate Oscillator Six PWM Channels 8-channel 10-bit
ADC in TQFP and QFN/MLF package.
• Operated Voltage- 2.7-5.5 for ATmega 48/88/169V
• Temperature Range= -40 Centigrate to 85 Centigrate
• Speed Grade- 0-10 MHZ at 2.7V-5.5V, 0-20 MHZ at 4.5V-5.5V

• Power Consumption at 1 MHZ, 1.8V,

25C Active Mode- 0.3 A
Power Down Mode- 0.1 micro A
Power Save Mode- 0.8 micro A

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2.1.2 Ultrasonic Sensor

Ultrasonic ranging and detecting devices use high frequency sound waves called
ultrasonic waves to detect presence of an object and its range. Normal frequency range of human
ear is roughly 20Hz to 20,000Hz. Ultrasonic sound waves are sound waves that are above the
range of human ear, and thus have frequency above 20,000Hz. An ultrasonic sensor necessarily
consists of a transducer for conversion of one form of energy to another, a housing enclosing the
ultrasonic transducer and an electrical connection. These sensors are of two types:

• Ultrasonic Transmitter – Before transmitting the ultrasonic wave, there is a part

which is ultrasonic wave generator that functions to generate ultrasonic wave. In that
part, there is timing instruction means for generating an instruction signal for
intermittently providing ultrasonic waves. This signal will send to an ultrasonic wave
generator for generating ultrasonic waves based on the instruction signal from said
timing instruction means (transform electrical energy into sound wave). After
ultrasonic wave was produced, ultrasonic transmitter transmits the ultrasonic waves
toward a road surface to find out the obstacle. The range that obstacle detected is
depends on the range of ultrasonic sensors that used.

Fig 2.2 Ultrasonic Transmitter

 Ultrasonic Receiver – If the ultrasonic wave detects the obstacle, it will produce a
reflected wave. An ultrasonic receiver is used for receiving the ultrasonic waves
reflected from the road surface to generate a reception signal. There is ultrasonic
transducer that will transform back the sound wave to electrical energy. This signal
amplified by an amplifier. The amplified signal is compared with reference signal to
detect components in the amplified signal due to obstacles on the road surface. The

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 magnitude of the reference signal or the amplification factor of the amplifier is
controlled to maintain a constant ratio between the average of the reference signal
and the average of the amplified signal.

Fig 2.3 Ultrasonic Receiver

2.1.3 Motor Driver L293d

L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as
current amplifiers since they take a low-current control signal and provide a higher-current
signal. This higher current signal is used to drive the motors. L293D contains two inbuilt H-
bridge driver circuits. In its common mode of operation, two DC motors can be driven
simultaneously, both in forward and reverse direction.

Fig. 2.4 Motor driver L293D

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  Pin Diagram

Fig. 2.5 Pin diagram

The motor operations of two motors can be controlled by input logic at pins 2 & 7 and
10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate
it in clockwise and anticlockwise directions, respectively. Enable pins 1 and 9 (corresponding
to the two motors) must be high for motors to start operating. When an enable input is high,
the associated driver gets enabled.

As a result, the outputs become active and work in phase with their inputs. Similarly,
when the enable input is low, that driver is disabled, and their outputs are off and in the high-
impedance state.

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  Pin Description:

Pin No Function Name

1 Enable pin for Motor 1; active high Enable 1,2
2 Input 1 for Motor 1 Input 1
3 Output 1 for Motor 1 Output 1
4 Ground (0V) Ground
5 Ground (0V) Ground
6 Output 2 for Motor 1 Output 2
7 Input 2 for Motor 1 Input 2
8 Supply voltage for Motors; 9-12V (up to 36V) Vcc 2
9 Enable pin for Motor 2; active high Enable 3,4
10 Input 1 for Motor 1 Input 3
11 Output 1 for Motor 1 Output 3
12 Ground (0V) Ground
13 Ground (0V) Ground
14 Output 2 for Motor 1 Output 4
15 Input2 for Motor 1 Input 4
16 Supply voltage; 5V (up to 36V) Vcc 1

2.1.4 Node Mcu

Node MCU is an open source IOT platform. It includes firmware which runs on the
ESP8266 Wi-Fi SOC from Espressif Systems and hardware which is based on the ESP-12
module. The term "Node MCU" by default refers to the firmware rather than the development
kits. The firmware uses the LUA scripting language.

It is based on the ELUA project and built on the Espressif Non-OS SDK for ESP8266.
It uses many open source projects, such as LUA-CJSON and SPIFFS.

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 Fig.2.6 Node MCU

2.1.5 DC Shunt motor

A DC motor is any of a class of rotary electrical machines that converts direct current
electrical energy into mechanical energy. The most common types rely on the forces
produced by magnetic fields. Nearly all types of DC motors have some internal mechanism,
either electromechanical or electronic, to periodically change the direction of current flow in
part of the motor.

Fig. 2.7 DC shunt motor

DC motors were the first form of motor widely used, as they could be powered from
existing direct-current lighting power distribution systems. Speed of DC motor can be
controlled over a wide range using either a variable supply voltage or by changing the
strength of current in field windings. Small DC motors are used in tools, toys, and appliances.

The universal motor can operate on direct current but is a light weigh brushed motor
used for portable power tools and appliances.

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 Larger DC motors are currently used in propulsion of electric vehicles elevator and
hoists and in drives for steel rolling mills. The advent of power electronics has made
replacement of DC motors with AC motors possible in many applications.

Mathematical expression of dc shunt motor described as…

A DC shunt motor (also known as a shunt wound DC motor) is a type of self-excited

DC motor where the field windings are shunted to or are connected in parallel to the armature
winding of the motor. Since they are connected in parallel the armature and field windings are
exposed to the same supply voltage. Though there are separate branches for the flow of
armature Current and field current as shown in the figure of below.

Fig. 2.8 DC Shunt Motor Circuit Diagram

DC Shunt Motor Equations

Let us now consider the voltage and current being supplied from the electrical
terminal to the motor be given by E and Itotal respectively.

This supply current in case of the shunt wound DC motor is split up into 2 parts. I a
flowing through the armature winding of resistance R a and Ish flowing through the field winding
of resistance Rsh. The voltage across both windings remains the same. From there we can write..

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Thus we put this value of armature current Ia to get general voltage equation of a DC shunt
motor.

Now in general practice when the motor is in its running condition and the supply voltage is
constant and the shunt field current given by-
But we know Ish ∝ Φ

i.e. field flux Φ is proportional to filed current Ish. Thus the field flux remains more or less
constant, and for this reason, a shunt wound DC motor is called a constant flux motor.

2.1.6 Wiper Motor

Windscreen wiper motor brushes have played very important role in the construction
of wiper motors. The motors used in windscreen wipers are also known as Ferrite magnet
type motors as permanent magnets are used in them. These motors contain gears to control
the speed of the wiper and three brushes to be used according to the speed of the wiper and
the motor itself.

These three brushes include a high speed brush, a low speed brush and a common
brush for the ground. The gear section of the wiper motor also contains a cam switch to stop
the wiper every time at the same position.

Fig. 2.9 DC wiper motor

The armature coils in the wiper motor generate a counter-electromotive force when it
is turned to control the speed of rotation of the motor.
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 When low-speed brush from the three Windscreen wiper motor brushes provides
current into the armature coils then they generate a large counter electromotive force to slow
down the speed of rotation of the wiper motor.

2.1.7 Vacuum Cleaner

The first vacuum-cleaning device to be portable and marketed at the domestic market
was built in 1905 by Walter Griffith manufacturer in Birmingham, England. His Griffith's
Improved Vacuum Apparatus for Removing Dust from Carpets resembled modern-day
cleaners it was portable easy to store and powered by any one person (such as the ordinary
domestic servant) who would have the task of compressing a bellows-like contraption to
through a removable, flexible pipe to which a variety of shaped nozzles could be attached.

Fig. 2.10 Vacuum Cleaner

2.1.8 Relay

A relay is an electrical switch that uses an electromagnet to move the switch from the
off to on position instead of a person moving the switch. It takes a relatively small amount of
power to turn on a relay but the relay can control something that draws much more power.

Ex: A relay is used to control the air conditioner in your home. The AC unit
probably runs off of 220VAC at around 30A. That's 6600 Watts! The coil that controls the
relay may only need a few watts to pull the contacts together.

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 Fig.2.11 Relay

This is the schematic representation of a relay. The contacts at the top are normally
open (i.e. not connected). When current is passed through the coil it creates a magnetic field
that pulls the switch closed (i.e. connects the top contacts). Usually a spring will pull the
switch open again once the power is removed from the coil.

 WORKING PRINCIPLE OF RELAY

It works on the principle of an electromagnetic attraction. When the circuit of the

relay senses the fault current, it energies the electromagnetic field which produces the
temporary magnetic field.

Fig. 2.12 Circuit Diagram of Relay

This magnetic field moves the relay armature for opening or closing the connections.
The small power relay has only one contacts, and the high power relay has two contacts for
opening the switch. The inner section of the relay is shown in the figure below. It has an iron
core which is wound by a control coil.

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 The power supply is given to the coil through the contacts of the load and the control
switch. The current flows through the coil produces the magnetic field around it.Due to this
magnetic field, the upper arm of the magnet attracts the lower arm.

Hence close the circuit, which makes the current flow through the load. If the contact
is already closed, then it moves oppositely and hence open the contacts.

2.2 Assembly of Project

Project is assemble on a ply board. Four wheels are connect with all four corners.
Two wheels that’s on front side of board and two wheels are connected with back side of ply
board. Front side wheels are free to move while back side wheels are connected with motors.
These motors are dc shunt motors.

Movement of motors is controlled by a motor driver. This motor driver is programed

with Arduino software and power supply is received from the 12 volt battery.

Two batteries are used one battery is of 12 volt and other battery is of 8 volt and these
Batteries also have a 12 to 5 volt convertor and a 8 to 5 volt convertor because some devices
are used 12 volt supply and some used 5 volt supply. The classification of 12v and 5v
supplies is given below-

 5V operated devices
 Ardiuno
 Node MCU
 Ultrasonic sensor
 Water pump

 12v operated devices

 Motors
 Wiper motor
 Vacuum cleaner
First we connected all devices with their required supplies. Some devices require
relay for operation so we connect with relay to the devices. There are three relays are used in
this project these relays are connected with the devices. Relay receives three input wires these
wires connected with supply, ground and one with Arduino 1.
P a g e 26 | 46
  Relays connection with device

Relay 1 Water Pump (5v)

Relay 2 Wiper (12v)

Relay 3 Vacuum Cleaner (12v)

Two wheels operate with dc motors and these dc motors are operated with the motor driver
L293D the motor driver use Arduino programming and pin connection.

In Arduino software digital write pin is used for providing input. For operation of
motor driver we provide input to motor driver from the Arduino digital write pin. Different
pins are assigned for the operation of Arduino. The pin used is given below –

Digital write pins of Arduino Pin of L293D

D6 M1b

D5 M1a

D8 M2b

D7 M2a

There are two Arduino nano used and these are nominated with arduino 1 and arduino
2. Arduino 1 is used for the programming of three relays and is operate at a voltage of 5v.
This is programmed with the Arduino software.

This is also connected with the node MCU for IOT connection. Second Arduino is
used for the programming of motor driver. Motor driver is programmed for the motion
control of dc motors. When ultrasonic sensor send signal to the Arduino then as per the turn
number motor driver operate motors for right turn or left turn and then motor move forward.

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 Node MCU is used for the IOT control of floor cleaner. This node mcu is programed
with the Arduino software. Node MCU is connected with Blynk app. When internet is
connected to node MCU and Blynk app is operate then we can control the four circuits.

Pin of node MCU Connection

D0 vacuum cleaner

D1 water pump

D2 wiper motor

D3 motor driver

All devices are assemble and placed their most suitable place. Figure of project is given below-

 Circuit Diagram

Fig. 2.2.1 Circuit Diagram

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 Project Picture

Fig 2.2.2 Floor Cleaning Robot

P a g e 29 | 46
 CHAPTER 3

SOFTWARE DESCRIPTION

3.1 Programming for Arduino Nano 1

We know that there are two Arduino Nano used in this project. Function of first Arduino
Nano is to driven water pump, wiping motor and vacuum cleaner. The programming for this
is mention below-

void setup()

/ initialize serial

communication: PinMode(5,

OUTPUT); pinMode(6,

OUTPUT); pinMode(7,

OUTPUT); pinMode(8,

OUTPUT); digitalWrite(5,

HIGH); digitalWrite(6, HIGH);

digitalWrite(7, HIGH);

pinMode(2, INPUT);

digitalWrite(2, HIGH);

pinMode(3, INPUT);

digitalWrite(3, HIGH);

pinMode(4, INPUT);

digitalWrite(4, HIGH);

void loop()

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{

if(digitalRead(2)==1)

digitalWrite(5, LOW);

if(digitalRead(2)==0)

digitalWrite(5, HIGH);

if(digitalRead(3)==1)

digitalWrite(6, LOW);

if(digitalRead(3)==0)

digitalWrite(6, HIGH);

if(digitalRead(4)==1)

digitalWrite(7, LOW);

if(digitalRead(4)==0)

digitalWrite(7, HIGH);

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This program is make for the operation of relay module connected with the water
pump, wiper motor and vacuum cleaner.

3.2 Programming for Arduino Nano 2

Arduino nano 2 is programmed for operate the motor driver. Motor driver receive
input functioning from the Arduino Nano 2 and move the wheels. Programing for Arduino
Nano 2 is given below.

const int trigPin = 2;

const int echoPin = 13;

int l=0, r=1;

int rounds=0;

int sem = 0;

void setup()

/ initialize serial communication:

analogWrite(3, 180);

Serial.begin(9600); pinMode(5,

OUTPUT); pinMode(6,

OUTPUT); pinMode(7,

OUTPUT); pinMode(8,

OUTPUT); digitalWrite(5, LOW);

digitalWrite(6, LOW); //left motor

digitalWrite(7, LOW);

digitalWrite(8, LOW); // right

moto pinMode(A0, INPUT);

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digitalWrite(A0, HIGH);

void loop()

/ establish variables for duration of the ping,

/ and the distance result in inches and

centimeters: long duration, inches, cm;

while(digitalRead(A0)==0)

/ The sensor is triggered by a HIGH pulse of 10 or more microseconds.

/ Give a short LOW pulse beforehand to ensure a clean HIGH

pulse: pinMode(trigPin, OUTPUT);

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

/ Read the signal from the sensor: a HIGH pulse whose

/ duration is the time (in microseconds) from the sending

/ of the ping to the reception of its echo off of an

object. pinMode(echoPin, INPUT);

duration = pulseIn(echoPin, HIGH);

/ convert the time into a distance

inches = microsecondsToInches(duration);

P a g e 33 | 46
cm = microsecondsToCentimeters(duration);

Serial.print(inches);

Serial.print("in, ");

Serial.print(cm);

Serial.print("cm");

Serial.println();

delay(500);

if(cm>50 )

digitalWrite(5, LOW);

digitalWrite(6, HIGH); //left motor

digitalWrite(7, LOW);

digitalWrite(8, HIGH); // right motor

Serial.println("fwd");

while(rounds>3)

Serial.println("rounds complete press reset");

digitalWrite(5, LOW);

digitalWrite(6, LOW); //left motor

digitalWrite(7, LOW);

digitalWrite(8, LOW); // right motor

P a g e 34 | 46
while(cm<=50 && rounds<5)

if(l == 0 && sem ==0)

Serial.println("go dir1 u turn and stop");

rounds++;

Serial.print("rounds: ");

Serial.println(rounds);

digitalWrite(5, LOW);

digitalWrite(6, HIGH); //left motor

digitalWrite(7, HIGH);

digitalWrite(8, LOW); // right motor

delay(5000);

digitalWrite(5, LOW);

digitalWrite(6, HIGH); //left motor

digitalWrite(7, LOW);

digitalWrite(8, HIGH); // right motor

delay(1500);

digitalWrite(5, LOW);

digitalWrite(6, HIGH); //left motor

digitalWrite(7, HIGH);

digitalWrite(8, LOW); // right motor

delay(5000);

digitalWrite(5, LOW);

P a g e 35 | 46
digitalWrite(6, LOW); //left motor

digitalWrite(7, LOW);

digitalWrite(8, LOW); // right motor

l=1

break;

if(r == 1 && sem ==0)

Serial.println("go dir 2 u turn and stop");

r=1;

l=0;

sem=0;

rounds++;

digitalWrite(5, HIGH);

digitalWrite(6, LOW); //left motor

digitalWrite(7, LOW);

digitalWrite(8, HIGH); // right motor

delay(5000);

digitalWrite(5, LOW);

digitalWrite(6, HIGH); //left motor

digitalWrite(7, LOW);

digitalWrite(8, HIGH); // right motor

delay(1500);

digitalWrite(5, HIGH);

P a g e 36 | 46
digitalWrite(6, LOW); //left motor

digitalWrite(7, LOW);

digitalWrite(8, HIGH); // right motor

delay(5000);

digitalWrite(5, LOW);

digitalWrite(6, LOW); //left motor

gitalWrite(7, LOW);

digitalWrite(8, LOW); // right motor

break;

While (digitalRead(A0)==1)

Serial.println("iot off");

digitalWrite(5, LOW);

digitalWrite(6, LOW); //left motor

digitalWrite(7, LOW);

digital Write(8, LOW); // right motor

long microseconds To Inches (long microseconds)

P a g e 37 | 46
{

/ According to Parallax's datasheet for the PING))), there are

/ 73.746 microseconds per inch (i.e. sound travels at 1150 feet per

/ second). This gives the distance travelled by the ping, outbound

/ and return, so we divide by 2 to get the distance of the

obstacle. return microseconds / 74 / 2;

long microsecondsToCentimeters(long microseconds)

/ The speed of sound is 340 m/s or 29 microseconds per centimeter.

/ The ping travels out and back, so to find the distance of the

/ object we take half of the distance travelled.

return microseconds / 29 / 2;

3.3 Programing for Node MCU

Node MCU is also programmed by Arduino Nano software. Node MCU is used to receive
signal from Blynk App

0#define BLYNK_PRINT Serial

#include <ESP8266WiFi.h>

#include <BlynkSimpleEsp8266.h>

// Authorization token from the Blynk App.

char auth[] = "d01d138837df429eaa8269b0360fe2e6";

/ Your Wi Fi credentials;

/ Set password to "" for open networks.

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char ssid[] = "Qadir";

char pass[] = "1234567890";

const int sensorPin= A0; //sensor pin connected to analog pin A0

float lock;

void setup()

Serial.begin(9600);

Blynk.begin(auth, ssid, pass);

pinMode(sensorPin, INPUT);

Blynk.virtualWrite(V0, lock);

Blynk.run();

void loop()

lock = analogRead(sensorPin);

Serial.println(lock);//This will print the liquid level in the monitor

Blynk.virtualWrite(V0, lock);

delay(100);

Blynk.run();

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 CHAPTER-4

WORKING OF PROJECT

4.1 Working

Floor cleaning robot has two switch that are connected with two batteries. First step is
to on both switches and connected Wi Fi with node MCU and make whole circuit online with
Blynk app. When we give signal from Blynk app to start motion than a Forword motion will
start by the program set by the Arduino Nano.

Project has three more switch from Blynk app. First switch is connected with water
pump second one is connected with water pump and third one is connected with vacuum
cleaner. we can control the all three switch from Blynk app as per the requirement of the
cleaning.

When switch D3 turn ON from the Blynk app then the wheel start to move to forward
direction. If any obstacle or wall come in front of robot than ultrasonic sensor receive the
signal and send information to Arduino Nano than wheels start to turn. This turn is move
towards left if round is even and move to left if round is odd than robot turn to right.

We have need to analyse the dimension of room and then set number of turn in
Arduino software programming. For motion straight or turning to left or right we have to
connection the motor driver to Arduino Nano software and setting low or high the pins D5,
D6, D7, D8. These pin are set in program as given below-

 For straight forward motion

Pin name State

D5 low

D6 high

D7 low

D8 high

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  For turn right motion
D5 high

D6 low

D7 low

D8 high

 For turn left motion

D5 low

D6 high

D7 high

D8 low

4.2 Methodology

ON

START

STRAIGHT MOTION

IF WALL DETECTED IF
TURN RIGHT TURN LEFT
T=ODD (ULTRASONIC SENSOR) T=EVEN

IF
IF
T<=N
T>N

STOP

Fig. 4.1 Methodology

Where
T= turn number
N= total turn set in programing

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 CHEPTER – 5
RESULT
5.1 RESULT

As a result of this autonomous IOT based floor cleaning robot, the function of each
part is working well and the whole system is successfully accomplished. This perform well
the working of movement in a whole room direction and make cleaning of the room.

The ranging accuracy of ultrasonic sensor in this prototype is about 20cm to 2m and
works effectively within the prescribed limit of 50 cm range.

5.2 FINAL OVERVIEW OF PROJECT

In this project, we have checked the working of our project, we connected it with a

batteries and whose cleaning and moving system is controlled by a DC gear motor and pump.

This technique is eco-friendly and this work is an attempt to reduce accidents while in critical

driving conditions. We have tested the working of the system by placing various objects ahead

as obstacles.

The system responded by reducing the speed of the vehicle when the obstacle is placed

at various distances from it. Also system properly perform the cleaning via vacuum cleaner

and wiper motor and this process is properly controlled by internet of things. Controlling of

system via Blynk app is properly working.

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APPLICATION

Floor cleaning robot is developed to make floor cleaning process easier. This can be
used in power plant like nuclear power plants because in that places the harmful radiations is
placed and cause serious health problems.

To avoiding this we can send a robot to perform the whole operation. In colleges and
other places where large floor area is present we can use floor cleaning robot to clean that
areas. In industries we required cleaning in large areas as well as small areas and both areas
can be clean without need of personnel. By this we can save money and time.

The Android app is generally developed using JAVA language. The app controlling
this vacuum robot can be built without having the knowledge in java language. It is called as
“VBot211” developed by MIT App Inventor. Shown below is a diagram which shows the
interface of the app.

In this way, some functional requirements that would improve the robot performance
were not taking into account due either to their inherent complexity or to their mechanical
implications. These robots operate semi- or fully autonomously to perform services useful to
the well-being of humans and equipment. With the aim of keeping our robot as simple as
possible, while able to perform the initial goals, i.e. an autonomous vacuum cleaner robot
able to randomly navigate through a room or a house with the minimum human assistance,
the following specifications were found:

P a g e 43 | 46
FUTURE SCOPE

This robot can modified in future for a better effective work and multipurpose.
Efficiency of cleaning can be improve. By using IR sensor and to add other features we can
make a device that perfectly work for cleaning. If we add a timer than it can work for a
special time with starting automatically.

This floor cleaning robot is limited to clean floor stairs cannot be cleaned by this so it
can be modified for cleaning of stairs. This robot can be modified for cleaning of more than
one room by one robot. This robot cannot clean circular room we can programmed for
cleaning every shaped room. So these are the future scope of floor cleaning robot

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CONCLUSION

We have successfully completed the autonomous IOT based floor cleaning robot
model prototype and this project presents the implementation of an Automatic cleaning
System controlled by Internet of Thing, but the speed of the vehicle can be reduced
automatically due to the sensing of the obstacles.

It reduces the accident levels and tends to save the lives of so many people. By doing
this project practically we gained the knowledge about working of automatic braking system
and with this future study and research.

We hope to develop the system into an even more advanced speed control system for
automobile safety, while realizing that this certainly requires tons of work and learning, like
the programming and operation of microcontrollers and the automobile structure.

Hence we believe that the incorporation of all components in Automatic Braking

System will maximize safety and also give such system a bigger market space and a
competitive edge in the market.

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REFERENCE

1. L293D datasheet. Website (www.ti.com)

2. S.Muruganandhan, G.Jayabaskaran, P.Bharathi, “LabVIEW-NI ELVIS II based Speed

Control of DC Motor,” International Journal of Engineering Trends and Technology (IJETT)
Volume 4 Issue 4, April 2013.

3. A Technical Analysis of Autonomous Floor Cleaning Robots Based on US Granted

Patents, European International Journal of Science and Technology Vol. 2 No. 7 September
2013. Liu, Kuotsan1, Wang.

4.http://web.stevens.edu/ses/me/fileadmin/me/senior_design/2007/group01/DesignFinal.pdf
5. http://eng.najah.edu/sites/eng.najah.edu/files/robotic_vacuum_pre_1.pptx

6.http://www.ecs.umass.edu/ece/sdp/sdp05/preston/sdp_data/Draft%20System%20Specificati
on.doc

7. http://letsmakerobots.com/node/40288

8. http://www.intorobotics.com/build-diy-roomba-style-robot-vacuum-cleaner/

9. http://www.irobot.com/For-the-Home/Vacuum-Cleaning/Roomba.aspx

10.http://eprints2.utem.edu.my/4710/1/Design_And_Implementation_Of_Vacuum_Robot_-
_24_pages.pdf

11.http://www.instructables.com/id/Floor-vacuum-cleaner-robot-controlled-by-Arduino-w/
12. http://www.scribd.com/doc/231094704/Automatic-vacuum-cleaner-project#scribd

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