SMART VACUUM CLEANER

VISVESVARAYA TECHNOLOGICAL UNIVERSITY,

BELAGAVI.

PROJECT REPORT

on

“SMART VACUUM CLEANER”

Submitted in partial fulfilment of the requirements for the award of

BACHELOR OF ENGINEERING

IN

ELECTRONICS AND COMMUNICATION ENGINEERING

For the academic year 2019-2020

Submitted by

ANANYA (1CR16EC013)
ANUPAM MISHRA (1CR16EC017)
KAMAL KRISHNA SHRIVASTAV (1CR16EC059)

Under the guidance of

Mrs. SUSHMA B.
Asst. Professor
Dept. Of ECE, CMRIT

2019-2020
Department Of Electronics and Communication Engineering
CMR INSTITUTE OF TECHNOLOGY, Bangalore - 560 037

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DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

CERTIFICATE

This is to Certify that the dissertation work “Smart Vacuum Cleaner” carried out by Ananya
(1cr16ec013) ,Anupam Mishra (1cre16ec017) ,Kamal Krishna Shrivastava (1cr16ec059) bonafide
students of CMRIT in partial fulfillment for the award of Bachelor of Engineering in Electronics
and Communication Engineering of the Visvesvaraya Technological University, Belagavi, during
the academic year 2019-20. It is certified that all corrections/suggestions indicated for internal
assessment have been incorporated in the report deposited in the departmental library. The project
report has been approved as it satisfies the academic requirements in respect of Project work prescribed
for the said degree.

Signature of Guide Signature of HOD Signature of Principal

SUSHMA.B Dr. R. Elumalai Dr. Sanjay Jain

Asst. Professor, Head of the Department, Principal,
Dept. of ECE., Dept. of ECE., CMRIT,
CMRIT, Bengaluru. CMRIT, Bengaluru. Bengaluru.

External Viva
Name of Examiners Signature & date

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ABSTRACT
Today households devices are becoming smarter and more automated. Home automation
delivers convenience and creates more time for people. Domestic robots are entering homes
and people’s daily lives, but it is yet a relatively new and immature market. However, growth
is predicted and the adoption of domestic robots is evolving. This work can be very useful in
improving life style of mankind.

Our aim is to design the automatic vacuum cleaner that will help to make household work
convenient and much easier. It operates in automatic mode as well as in manual mode
along with additional features like scheduling for specific time and dirt container with auto-
dirt disposal mechanism. The flexibility, time saving and efficiency make the robot a good
choice for cleaning the floor.

Automatic vacuum cleaners use open cv (Image based processing), raspberry pi camera, dc
motor and control driver and node mcu, ultrasonic sensor. It also contains mop for wet
cleaning, autonomously vacuuming and wet-mopping a floor in one pass (sweep and mop
combo). By using image processing technique our vacuum cleaner is able to detect obstacle
and able to find correct path for proper cleaning of floor. Vacuum cleaner is of truncated
shape .It uses image processing which has several criteria that makes it user-friendly.

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ACKNOWLEDGEMENT

The satisfaction that accompanies the successful completion of any task would be
incomplete without mentioning the people whose proper guidance and encouragement
has served as a beacon and crowned my efforts with success. We take an opportunity
to thank all the distinguished personalities for their enormous and precious support
and encouragement throughout the duration of this seminar.

We take this opportunity to express our sincere gratitude and respect to CMR
Institute of Technology, Bangalore for providing us an opportunity to carry out our
project work.

We have a great pleasure in expressing our deep sense of gratitude to Dr. Sanjay
Jain, Principal, CMRIT, Bangalore, for his constant encouragement.

With profound sense of gratitude, we acknowledge the guidance and support extended
by Dr. Elumalai R, HoD, and Mrs. Sushma B., Asst. Professor, Department of
Electronics and communication Engineering, CMRIT, Bangalore. Their incessant
encouragement and invaluable technical support have been of immense help in
realizing this project work. Their guidance gave us the environment to enhance our
knowledge, skills and to reach the pinnacle with sheer determination, dedication and
hard work.

We also extend our thanks to the faculties of Electronics and communication

Department who directly or indirectly encouraged us throughout the course of project
work.

We also thank our parents and friends for all their moral support they have given us
during the completion of this work.

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CONTENTS

1) Introduction… ................................................................... 7-8

2) Literature survey… ........................................................... 9-13

3) Motivation. .......................................................................... 14

4) Objective .............................................................................. 15

5) Methodology… ................................................................. 16

3.1) Hardware methodology ...................................... 16-35

3.2) Software methodology........................................36-39

6) Result ........................................................... 40-41

7) Reference ............................................................................ 43

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LIST OF FIGURE
Page no
Fig 1 Automatic Vacuum Cleaner Model 8
Fig 2.1 Mechanical Design of Clear 10
Fig 5.2.1 Working of Automatic Vacuum Cleaner 17
Fig 5.1 DC Gear Motor 19
Fig 5.5.2 L298 Motor Driver Module 20
Fig 5.5.3 Node MCU 22
Fig 5.5.3.1 Node MCU Pin Configuration 23
Fig 5.5.4 Raspberry PI 3b 26
Fig 5.5.5 Raspberry PI Camera V2 27
Fig 5.5.6 Battery 29
Fig 5.5.7 Wheel 30
Fig 5.5.8 Ultra Sonic Sensor 32
Fig 5.5.10 MOP 35
Fig 5.5.11 Small Water Tank 35
Fig 5.6.6.1 Candy Edge Detection 38
Fig 5.6.6.2 Hysteresis Graph 39
Fig 6 Axial Representation of Automatic Vacuum Cleaner 40

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CHAPTER-1
INTRODUCTION

In today life, time management is considered as one of the most important factors. A very
notable household chore is floor cleaning which is often considered as difficult and
boring job. In most cases, cleaners are hired to do the task rather than the household residents
do it. The discomfort posed by this recurrent chore necessitated development of a vacuum
cleaner that could assist human with such a task. A vacuum cleaner is an electromechanical
appliance commonly used for cleaning floors, furniture, rugs and carpets by suction. An
electric motor inside the appliance turns a fan which creates a partial vacuum and causes
outside air to rush into the evacuated space. This forces any dirt or dust near the nozzle into a
bag inside the machine or attached to the outside.

The demand to reduce manpower level has led to the design and development of automatic
control systems, which enables unattended operations of the machinery. The current
automatic integrated systems cover all aspects of Automatic vacuum cleaner operations.

Current vacuum cleaners, although efficient, are rather bulky and therefore require large
manpower for proper functioning. The former vacuum cleaners use to generate suction and
gathered dust with a rotating brush, the latter worked with a belt driven by hand-cranked fan
making it awkward to operate. In the late 1990s and early 2000s, more efficient sweepers
equipped with limited suction power were developed. Depending on the design
target, robotics vacuum cleaners are appropriate for offices, hotels, hospitals and homes.
However, most cheap cleaners need a better cleaning pattern algorithm for efficient
functioning while the smart ones are rather costly, and thus beyond the reach of most homes.
These challenges were carefully considered while designing the vacuum cleaner. The
Automatic vacuum fig.1.1.

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Fig 1 Automatic Vacuum Cleaner Model

The current robot vacuum cleaner was fabricated from computer scraps, ultrasonic sensor and
a NODEMECU 8266 microcontroller making it relatively cheap. It navigates rooms using a
patterned algorithm and its cleaning mechanism is enhanced by two rotating sweepers placed
side by side. Its truncated shape has been carefully considered in the design of the sweepers
while its effectiveness was evaluated.

The robot is designed keeping in mind following modules of operation:

 cleaning mechanism

 directional control with automatic obstacle avoidance

 less space consuming

 avoid falling from certain height

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CHAPTER-2

LITERATURE SURVEY
We have done comprehensive study of latest technological trends and efficient systems. We
have undertaken extensive literature survey to study automatic vacuum cleaner parameters,
such as sensors, raspberry pi module, raspberry pi camera and how to connect raspberry pi
with NodeMcu. A well-planned literature survey has ensured availability of information for
efficient system performance, technology usage, specialization and management of available
resources. IOT based systems are also studied for automatic vacuum cleaner system.

Our study includes the current knowledge, findings, as well as theoretical and
methodological contributions for development of automatic vacuum cleaner using image
processing. It involves concept development, which is a set of activities carried out in the
system engineering to collect parameters of operational needs and develop suitable system for
implementation.

Design of smart vacuum cleaner which are available in the market are using Arduino Uno,
Motor, Ultrasonic Sensor, and IR Sensor in order to achieve the goal of cleaning process.
Vacuum cleaner Robots have several criteria that are user-friendly.

An autonomous vacuum cleaner robot are able to randomly navigate through a room or a
house with the minimum human assistance, the following specifications that are found:

 Obstacle avoidance

 Floor avoidance

 Collision Detection

 Dry cleaning

 Wet cleaning

 Status display

 Automatic system

Four motors are used for the purpose like movement of robot, water pump. Relays are used
to drive the water pump and cleaner motor. LM293D IC are used to drive wheel motor. All

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the information are displayed on LCD. These specifications correspond to some of the
expected behaviours that will be programmed into the robot.

It consists of four dedicated wipers that are attached to the platform. Among them, one of the
wipers is cylindrical and the others are flat in geometry. The flat wipers are symmetrically
placed at the bottom of the Platform arranged in ‘V’ shape so as to ensure efficient cleaning
and collection of dust. The roller wipers are placed at the end of the platform using proper
links and a driver motor. The cleaning is made efficient using wet wiping system. This
system employs a small bottle that carries water in it. This ensures a complete cleaning of the
surface. Only the wipers in the front are made wet. This ensures that the wiper from the back
remove the water from the surface [1].

Now a days, robot operates in autonomous mode as well as in manual mode along with
additional features like scheduling for specific time and bagless dirt container with auto-dirt
disposal mechanism. This work can be very useful in improving life style of mankind.

Proposed design is being operated in dual modes. In one of the modes, the robot is fully
autonomous and making decisions on the basis of the outputs of infrared proximity sensors,
ultrasonic sensors and tactile sensors after being processed by Arduino (mega) controller and
control the actuators (2 DC encoder motors) by the H-bridge driving circuitry. In manual
mode, the robot can also be used to clean a specific area of a room by controlling it manually
from laptop with a Graphical User Interface (GUI) in Visual Studio (C# programming
language) via Bluetooth connectivity.

The following figure shows the working model of CLEAR:

Fig.2.1 Mechanical Design Of CLEAR

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The base of the body comprises of acrylic sheet, two encoder motors along with Teflon tires
having O-rings on them for avoiding friction, two ball casters of adjustable height having
frictionless steel balls, aluminium angular brackets and aluminium holders for two lead acid
batteries of 12V and 1.2Ah rating. Cleaning assembly includes a DC geared motor, sprockets
for moving chain from geared motor to rotating brush and two aluminium rods for supporting
vacuum cleaner mechanism and dirt compartment. This DC geared motor has been fitted on
one side of acrylic sheet with aluminium holder and sprockets installed with it which have
been fitted into shaft of motor. All components are installed on lower side of acrylic sheet so
that center of gravity should be lower and robot would be stable[2].

In some of the vacuum cleaners, all hardware and software operations are controlled by
AT89S52 micro-controller. RF modules have been used for wireless communication
between remote (manual mode) and robot and having range 50m. This robot is incorporated
with IR sensor for obstacle detection and automatic water sprayer pump. Four motors are
used, two for cleaning, one for water pump and one for wheels. Dual relay circuit used to
drive the motors one for water pump and another for cleaner. In the automatic mode robot
control all the operations itself and change the lane in case of hurdle detection and moves
back. In the manual mode, the keypad is used to perform the expected task and to operate
robot. RF module has been used to transmit and receive the information between remote and
robot and display the information related to the hurdle detection on LCD. The whole circuitry
is connected with 12V battery.

Unlike other floor cleaner robots this is not a vacuum cleaner robot; it performs sweeping and
mopping operation. Detachable mop is used for mopping. In the automatic mode, robot
performs all operations itself. Firstly, robot starts, it moves forward and perform cleaning
action. For obstacle detection and to avoid hurdle IR sensors have been used.

If any hurdle is detected then robot change the lane automatically, does not stop and starts
cleaning action. It follows zigzag path.

For user convenience automatic water sprayer is attached which automatically spray water
for mopping, therefore no need to attach wet cloth again and again for mopping.Four motors
have been used to perform respected operations like to move the robot, for water pump and
for cleaner.

Relays are used to drive the water pump and cleaner motor. LM293D IC is used to drive
wheel motor.

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All the information are displayed on LCD. In the manual mode, user itself operates the robot.
RF module have been used to transmit and receive the signal to operate the robot through
remote. In the manual mode, if any hurdle is detected, then signal of hurdle detection is
displayed on the LCD of remote via RF module[3].

All the information displayed on LCD. In the manual mode, user itself operates the robot. RF
module have been used to transmit and receive the signal to operate the robot through remote.
In the manual mode, if any hurdle detected, then signal of hurdle detection displayed on the
LCD of remote via RF module.

In the following research paper which we have studied for the reference and help for our
project uses following sensors:

 OBSTACLE SENSORS
 CLIFF SENSORS
 WALL SENSORS
 WHEEL SENSORS

Obstacle sensors: From a robot vacuum’s point of view, our homes are an obstacle course of
chair legs, coffee tables, sofas, and stray toys. Sensors located on or near the vacuum’s
shock-absorbing bumpers allow it to steer through these obstructions without getting slowed
down. When the bumper impacts an object, the sensor is triggered and the robot vacuum
knows to turn and move away until it finds a clear path. Which direction it takes is
determined by where the bumper makes contact. If a vacuum hit an object with the left side
of its bumper, for example, it will generally turn right because it has determined the object to
be to its left. But maneuvering around objects can often leave swaths of floor uncleaned. To
minimize this, some manufacturers take—literally—different approaches to obstacles. An
iRobot Roomba, for example, will slow down as its approaches an obstacle. “The advantage
of Roomba is that we gently touch objects, because what we find is that you can push through
soft objects like curtains and bed skirts,” said iRobot’s director of product management Ken
Bazydola. “That gives you better coverage.”

Cliff sensors: Stairs are perhaps the biggest peril for robot vacuums; a tumble could damage
the vacuum and anyone in its path. Because of this, cliff sensors are a safety requirement on
all robot vacuums. They measure the distance to the floor by constantly sending infrared

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signals to its surface. If the signals don’t immediately bounce back, the robot surmises it has
reached a stair or some other “cliff” and will change direction.

Wall sensors: This sensor help in detecting walls, again using infrared light, so they can
follow along them. This allows them to clean along the edges where the wall meets the floor.
Best of all, it allows them to do it without bumping and scuffing the wall as we often do with
stand up vacuums. In models with mapping capabilities, wall sensors can also help the
vacuum to follow around open doorways and discover new areas to clean.

Wheel sensors: A robot vacuum uses light sensors to measure wheel rotation. With this
number and the wheel circumference, it can calculate how far it has traveled. At one time,
sensor navigation was the way all robot vacuums worked. Today it’s mostly limited to
manufacturer’s lower-end models, because though it’s effective, it’s not particularly efficient.
Because these robot vacuums react to sensory input, they tend to grope their way through a
room, vacuuming in haphazard paths. In order to get complete coverage and clean every area
at least once they’ll take multiple passes over a room in whatever time their battery life
allows. In our tests, this usually meant longer vacuuming times and, in the case of larger
rooms, uneven cleaning as some areas got more attention than others.

“Since all the previous projects mentioned above follow zig-zag path where we cannot
predict whether our vacuum cleaner has cleaned our room completely or not”.

Whereas in our proposed work we can conform ourselves that our floor has been cleaned by
vacuum cleaner completely because in our project we will be using range of interest which
will help our vacuum cleaner in determining the obstacles and selecting proper path to move.
[4]

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CHAPTER-3

MOTIVATION
The motivation to undertake this project is to hone professional skills in software
development and integration with hardware. The work has been undertaken with the usage of
state of the art technology to meet the project objectives.

The IOT based project entitled “SMART VACUUM CLEANER” is selected

because, this is a specialized field and we can explore individual research attitude, analytical,
numerical and experimental skills. During the project work, we could explore individual
technical skills, knowledge, creativity and practical application of theoretical studies. It gave
opportunity to learn from the best engineers, in encouraging working environment. The
successful design and development of the project has fulfilled desired motivational objective
for the team members.

As a learning value, at the workplace, over view of component and systems

functioning and its design process was provided including physical demonstration of each sub
part. It was allowed to interact with engineers working on these systems and components, and
see various facilities, used for design, development, integration and testing purpose. It has
assisted individual in gaining valuable real work experience. It was possible to get insight
into the way technical business activities take place and challenges faced on daily basis. It
has provided opportunities to explore technical interest and develop professional skills and
competencies for the individual. It has provided opportunity to learn balance between office
work, college study and social life, thus capability to handle more responsibilities.

During the project work, we could apply academic knowledge and concepts in to real
life professional environment. Overall, this project work, provided necessary technical skills
and professional experience, which is essential for a successful engineer and career
development. The project has helped, learn resolving practical problems encountered during
applicability of academic knowledge in real technical world to design, develop, integrate,
fabricate and assess its functionality.

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CHAPTER -4

OBJECTIVE
Objective of this project is to design and develop IOT based smart vacuum cleaner, that will
help to make household work convenient and much easier.
In this project new type of home intelligent cleaner adopted the ultrasonic sensor , which
has the function of the real-time environment perception, is introduced, and this cleaner
driven by dc motor has the ability of autonomous working by itself and the functions of the
automatic detection and obstacle avoidance. This project adopts open CV technique for
floor coverage task, and designs synthesis detection system based on sensor arrays finding
method technology according to algorithm characteristics, experimental results for obstacle
detection by static finding indicates that the design detection systems improves cleaning
robot’s environment perception and path search ability greatly.
In recent years, robotic cleaners have taken major attention in robotics research due to their
effectiveness in assisting humans in floor cleaning applications at homes, hotels, restaurants,
offices, hospitals, workshops, warehouses and universities etc. asically, robotic cleaners are
distinguished on their cleaning expertise like floor mopping, dry vacuum cleaning etc. Some
products are based on simple obstacle avoidance using infrared sensors while some utilize
laser mapping technique. Each cleaning and operating mechanism of robotic floor cleaners
has its own advantages and disadvantages. For example, robots utilizing laser mapping are
relatively faster, less time consuming and energy efficient but costly, while obstacle
avoidance based robots are relatively time consuming and less energy efficient due to random
cleaning but less costly.

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CHAPTER- 5

METHODOLOGY
The project technology and components were elaborately discussed and plan made for
implementation. Detailed study of requirements and functioning of various existing systems,
components and its sub parts was undertaken for defining project methodology. Available
technical literature and interaction with engineers working on these systems and components
were carried out for finalization of efficient design at minimum cost and least time frame.

5.1 PROBLEM DEFINITION

Households of today are becoming smarter and more automated. Home automation delivers
convenience and creates more time for people. Domestic robots are entering homes and
people’s daily lives, but it is yet a relatively new and immature market. However, growth is
predicted and the adoption of domestic robots is evolving. This work can be very useful in
improving life style of mankind.
Our aim is to design the Automatic vacuum cleaner that will help to make household work
convenient and much easier. It operates in autonomous mode as well as in manual mode
along with additional features like scheduling for specific time and dirt container with auto-
dirt disposal mechanism. The flexibility, time saving and efficiency make the robot a clean
choice for cleaning the floor

5.2 PROJECT METHODOLOGY

The methodology of the project implementation is to design and develop the smart
vacuum cleaner, based on node mcu and machine learning using open cv technique to assess
its functional efficency. The validity of project concept is required to be demonstrated by
using hardware components, required software and integrating it all to fabricate a functioning
model.

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Fig 5.2.1. Working Of Automatic Vacuum Cleaner

The edge of the floor is sensed as input by Raspberry Pi camera which later on undergo
processing in Raspberry Pi Module, in which the edge of the floor is detected and this is done
with the help of Open Source Software, and it also help in the proper movement of the
vacuum cleaner.
The wheels and wipers are the output of the real time system proposed above.
The Wheel is connected to DC geared motor which is driven by DC Motor Driver. The DC
Motor is being rotated as per the code fed in NODEMCU 8266 and a result of which the
wheels are moving in the sensed direction.
The sprinklers and wipers are also attached to the proposed model in which when the wheels
are moving in any particular direction of the floor, the floor under the vacuum cleaner model
also gets cleaned up with the help of wipers and sprinklers are used to pour water at the time
of cleaning the floor by wipers.

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5.3 PROJECT TECHNOLOGY

Apart from basic engineering knowledge , certain technologies cover Arduino,

NODEMCU, IOT, artifical intelligence, control system, sensors , machine learning,
raspberry pi module, which is used for the project implementation .

5.3.1 SENSORS

Sensor is a device, which detects or measures a physical property and records,

indicates, or otherwise responds to it. It is used to detect and respond to electrical
or optical signals. It converts the physical parameter like temperature, pressure, humidity,
speed etc, into a signal which can be measured electrically.

sensors which we used in this project is:

 UltraSonic Sensor

5.3.2 IOT

An IOT system consists of sensors/devices which “talk” to the cloud through some
kind of connectivity. Once the data gets to the cloud, software processes it and then might
decide to perform an action, such as sending an alert or automatically adjusting the
sensors/devices without the need for the user.

5.4 PROJECT IMPLEMENTATION

The project has combination of software and hardware components. The hardware
used is Raspberry pi module and NODEMCU board which interfaced with sensors like
Ultrasonic sensor, Raspberry Pi camera module , Dc Motor and LCD wheel. Arduino
program for hardware integration is developed to process and transmit sensor signals for the
display. The communication device used is a NODEMCU which has in-built wifi module in
it.

5.5. PROJECT HARDWARE

Various components used and working principles of the project hardware are
described in succeeding paragraphs.

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5.5.1 DC 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.

DC motors were the first form of motor widely used, as they could be powered from existing
direct-current lighting power distribution systems. A DC motor's speed can be controlled over
a wide range, using either a variable supply voltage or by changing the strength of current in
its field windings. Small DC motors are used in tools, toys, and appliances. The universal
motor can operate on direct current but is a lightweight brushed motor used for portable
power tools and appliances. 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 motor possible in many applications.

Fig.5.1 Dc Gear Motor

Dc motor is used in this project for the movement of wheel. High torque dc motor is used for
the convenient movement of the wheel. As the weight of the automatic vacuum cleaner is
approx 5-6 kg we need a series dc motor which generate high torque. Dc motor is also used
for controlling the speed of wheel of automatic vacuum cleaner.

Dc motor is used to convert direct electrical energy into mechanical energy. DC motor work
on the principal that "whenever a current carrying conductor is placed in a magnetic field, it

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experiences a mechanical force”. The direction of the mechanical force induced in a dc motor
is given by Fleming’s Left-hand Rule and its magnitude is given by F=BIL Newton.

Dc motor is connected with NodeMcu Esp8266 with the help of dc motor driver, which is
further connected to the battery. Dc motor can rotate in both clockwise and anticlockwise
movement of the wheel.as the load driven by Dc motor is more so armature current needed
by it will also be more as a result high torque dc motor is required so that it can bear a heavy
load.

5.5.2 DC MOTOR DRIVER

A dc motor driver is a device that serves to conduct in some predetermined manner the
performance of a dc motor. A dc motor driver can be use to control the starting and stopping
or in forward or reverse rotation of a wheel, regulating the speed of the wheel, limiting the
torque and protecting against overloads and faults either a manual or automatic.

Common features of dc motor driver are:

 precise closed loop position control

 fast acceleration rates
 precise speed control dc motors may be made from several motor types, the most
common being:
o brushed DC motor
o brushless DC motors

Fig.5.5.2 L298n Motor Driver Module

The L298N is an integrated monolithic circuit in a 15- lead Multi-watt and PowerSO20
packages. It is a high voltage, high current dual full-bridge driver de-signed to accept

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standard TTL logic level sand drive inductive loads such as relays, solenoids, DC and
stepping motors. Two enable inputs are provided to enable or disable the device
independently of the in-put signals. The emitter of the lower transistors of each bridge are
connected together rand the corresponding external terminal can be used for the connection
of an external sensing resistor. An additional Supply input is provided so that the logic works
at a lower voltage.

5.5.2.1 Features
1) High operating voltage, which can be up to 40 volts;
2) Large output current, the instantaneous peak current can be up to 3A;
3) With 25W rated power;
4) Two built in H-bridge, high voltage, large current, full bridge driver, which can be used to
drive DC motors, stepper motors, relay coils and other inductive loads.
5) Using standard logic level signal to control.
6) Able to drive a two-phase stepper motor or four-phase stepper motor, and two-phase DC
motors.
7) Adopt a high-capacity filter capacitor and a freewheeling diode that protects devices in the
circuit from being damaged by the reverse current of an inductive load, enhancing reliability
8) The module can utilize the built-in stabili volt tube 78M05 to obtain 5v from the power
supply. But to protect the chip of the 78M05 from damage, when the drive voltage is greater
than 12v, an external 5v logic supply should be used.
9) Drive voltage: 5-35V; logic voltage: 5V

5.5.3 NODE MCU ESP8266

Node MCU is an open source IOT platform. It includes firmware which runs on
the ESP8266 Wi-Fi 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.

The module is mainly based on ESP8266 that is a low-cost Wi-Fi microchip incorporating
both a full TCP/IP stack and microcontroller capability. It is introduced by
manufacturer Espressif Systems – A manufacturer based in Shanghai, China.

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Arduino Modules and Microcontrollers have always been a great choice to incorporate
automation into the relevant project. But these modules come with a little drawback as they
don’t feature a built-in WiFi capability, subsequently, we need to add external WiFi
protocol into these devices to make them compatible with the internet channel.

This is where NodeMCU comes handy that incorporates a built-in WiFi support, giving an
easy pathway to design IoT applications as per your technical requirements.

Fig.5.5.3 Node Mcu

And open source firmware gives you the flexibility to edit, modify and rebuilt the existing
module and keep changing the entire interface until you succeed in optimizing the module as
per your requirements.

 USB to UART converter is added on the module that helps in converting USB data to
UART data which mainly understands the language of serial communication.

Instead of the regular USB port, Micro USB port is included in the module that connects it
with the computer for dual purposes: programming and powering up the board.

 The board incorporates status LED that blinks and turns off immediately, giving you the
current status of the module if it is running properly when connected with the computer.

The ability of module to establish a flawless Wi-Fi connection between two channels makes
it an ideal choice for incorporating it with other embedded devices like Raspberry Pi.

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5.5.3.1 NODEMCU PIN:

NodeMCU V3 comes with a number of GPIO Pins. Following figure shows the Pinout of the
board.

Fig.5.5.3.1 Node MCU Pin Configuration

There is a candid difference between Vin and VU where former is the regulated voltage that
may stand somewhere between 7 to 12 V while later is the power voltage for USB that must
be kept around 5 V.

5.5.3.2 HOW TO POWER NODEMCU:

You can see from the pinout image above, there are five ground pins and three 3V3 pins on
the board. The board can be powered up using the following three ways.

USB Power. It proves to an ideal choice for loading programs unless the project you aim to
design requires separate interface i.e. disconnected from the computer.
Provide 3.3V. This is another great option to power up the module. If you have your own
off-board regulator, you can generate an instant power source for your development kit.

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Power Vin. This is a voltage regulator that comes with the ability to support up to 800 mA. It
can handle somewhere between 7 to 12 V. You cannot power the devices operating at 3.3 V,
as this regulator unable to generate as low as 3.3V.

5.5.3.3 FEATURES OF NODEMCU ESP8266

 Open-source

 Arduino-like hardware

 Status LED

 MicroUSB port

 Reset/Flash buttons

 Interactive and Programmable

 Low cost

 ESP8266 with inbuilt wifi

 USB to UART converter

 GPIO pins

5.5.4 RASPBERRY PI 3B
The Raspberry Pi is a series of small single-board computers developed in the United
Kingdom by the Raspberry Pi Foundation to promote teaching of basic computer science in
schools and in developing countries. The original model became far more popular than
anticipated, selling outside its target market for uses such as robotics. It does not include
peripherals (such as keyboards and mice) or cases. However, some accessories have been
included in several official and unofficial bundles.

The organisation behind the Raspberry Pi consists of two arms. The first two models were
developed by the Raspberry Pi Foundation. After the Pi Model B was released, the
Foundation set up Raspberry Pi Trading, with Eben Upton as CEO, to develop the third
model, the B+. Raspberry Pi Trading is responsible for developing the technology while the
Foundation is an educational charity to promote the teaching of basic computer science in
schools and in developing countries.

According to the Raspberry Pi Foundation, more than 5 million Raspberry Pis were sold by
February 2015, making it the best-selling British computer. By November 2016 they had sold

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11 million units, and 12.5m by March 2017, making it the third best-selling "general purpose
computer". In July 2017, sales reached nearly 15 million. In March 2018, sales reached 19
million.

The Raspberry Pi 3 Model B is the third generation Raspberry Pi. This powerful credit-card
sized single board computer can be used for many applications and supersedes the original
Raspberry Pi Model B+ and Raspberry Pi 2 Model B.

Whilst maintaining the popular board format the Raspberry Pi 3 Model B brings you a more
powerful processor, 10x faster than the first generation Raspberry Pi.

Additionally it adds wireless LAN & Bluetooth connectivity making it the ideal solution for
powerful connected designs.

5.5.4.1 Raspberry Pi 3 - Model B Technical Specification

 Broadcom BCM2387 chipset

 1.2GHz Quad-Core ARM Cortex-A53

 802.11 bgn Wireless LAN and Bluetooth 4.1 (Bluetooth Classic and LE)

 1GB RAM

 64 Bit CPU

 4 x USB ports

 4 pole Stereo output and Composite video port

 Full size HDMI

 10/100 BaseT Ethernet socketbr

 CSI camera port for connecting the Raspberry Pi camera

 DSI display port for connecting the Raspberry Pi touch screen display

 Micro SD port for loading your operating system and storing data

 Micro USB power source

5.5.4.2 Raspberry Pi 3 - Model B Features

o Now 10x Faster - Broadcom BCM2387 ARM Cortex-A53 Quad Core Processor
powered Single Board Computer running at 1.2GHz!

o 1GB RAM so you can now run bigger and more powerful applications

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o Fully HAT compatible

o 40pin extended GPIO to enhance your “real world” projects.

o Connect a Raspberry Pi camera and touch screen display (each sold separately)

o Stream and watch Hi-definition video output at 1080

o Micro SD slot for storing information and loading your operating systems.

o 10/100 BaseT Ethernet socket to quickly connect the Raspberry Pi to the Internet

Fig. 5.5.4 Raspberry Pi 3b

5.5.5 RASPBERRY PI CAMERA V2

The Raspberry Pi Camera v2 is the new official camera board released by the Raspberry Pi
Foundation.

This 8mp camera module is capable of 1080p video and still images that connect directly to
your Raspberry Pi. This is the plug-and-play-compatible latest version of the Raspbian
operating system, making it perfect for time-lapse photography, recording video, motion
detection and security applications. Connect the included ribbon cable to the CSI (Camera
Serial Interface) port on your Raspberry Pi, and you are good to go!

The board itself is tiny, at around 25mm x 23mm x 9mm and weighing in at just over 3g,
making it perfect for mobile or other applications where size and weight are important. The
sensor has a native resolution of 8 megapixel, and has a fixed focus lens on board. In terms of

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still images, the camera is capable of 3280 x 2464pixel static images, and also supports
1080p30, 720p60 and 640x480p90 video.

Fig. 5.5.5 Raspberry Pi Camera V2

5.5.6 BATTERY

The Skycell Premium LiFePO4 Rechargeable Battery Pack is a 12s 5p battery pack with a
nominal voltage of 36V and can be fully charged upto 43.8V. This battery pack has 60 cells
which gives it a capacity for 1C (30A) continuous discharge and 3C (90A) discharge for a
few seconds. The nominal capacity of the battery pack is 30000mah. The battery pack has an
in-built BMS which prevents the battery from over charging above 43.8V and also prevents it
from over discharging below 33.5 volts.

The Skycell Premium LiFePO4 Rechargeable Battery Pack is made using Skycell High
Qualtiy Lithium Iron Phosphate (LiFePO4) rechargable cells which are one of the most
powerful and most stable cells available along with an amazing life cycle
of approximately 3000 cycles. The High Quality LiFePO4 is a 6000 mah cell with a 1C(6A)
continuous discharge and 3c(18A) peak discharge. These cells can work in high temperature
environments which might not be favourable for the Li-ion or Li-po cells. The cell is
availaible in the 32650 / 32700 size which means that the diameter of the cell is 32mm and
height is 70 mm which is quite compact for the power it gives. With a life cycle

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of approximately 3000 cycles with good performance, this is a fit and forget solution for our
battery packs.
The benefits of the LiFePO4 cells over Li-ion and Lead acid batterie are:
 LiFePO4 cells are much more stable chemically and non combustible. At high
temperatures or if the battery is mishandled the phosphate based cathode material will
not burn. Hence LiFePO4 are much more safe for E-Vehicles and mobile robots
 LiFePO4 cells offer much longer lifetime as compared to a Lead Acid or a Li-ion cell.
The LiFeP04 provides approximately 3000 cycles under proper handling and upto
70% DOD( Depth of Discharge). Also the shelf life of the cell is much longer with a
lower self discharge rate.
 The LiFePO4 cells offer higher performance compared to a normal 1C Li-ion 18650
cell. The commonly availaible Li-ion cell are rated for 2 A discharge rate whereas the
LiFePO4 1C cell provides a 6A discharge rate. There is also very little voltage drop
during discharge which is much higher in a lead acid battery.
The LiFePO4 is a nontoxic material, non contaminating material which contains no rare-earth
minerals. This makes it a much more environment friendly choice compared to the lead acid
and Lithium batteries.
5.5.6.1 Battery Specifications:
 Nominal Voltage of battery : 36V (12s5p)
 Maximum Voltage of battery : 43.8V(at full charge)
 Operating Voltage: 33.5V -43.8V
 Minimum voltage allowed by BMS : 33.5 V ( BMS will cutoff the supply once
battery pack is discharged up till 33.5 V)
 Continuous Current Capacity : 30 A (1C )
 Peak Current Capacity : 90 A (3 C) only for few seconds)
 Norminal Battery Capacity: 30000mAh
 Max Charging Current(Continuous): 1C (30A)
 Dimension: 330mm*200mm*80mm
 No of charge/discharge cycles : approximately 3000 cycles for 70% DOD. This
means that if the battery pack is used once daily then the life is approx 8 years for
same.
5.5.6.2 Applications of LiFePO4 battery

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 Light electric car, e-bike, electric scooter, e-rickshaw,electric golf cart, forklift,
cleanness car, electric wheelchairs.
 E-tools like electric drill, electric saw, lawn mower and so on
 Remote control cars, boat aircraft, toys.
 Solar and wind power generation energy storage devices
 Small medical equipment and portable equipment

Fig.5.5.6 Battery

5.5.7 WHEEL

Wheel is used for the movement of the body from one place to another with the help of Dc
motor. A wheel is usually of circular shape and hard and made up of durable material
whose center has a circular hole through which an axle bearing is placed about which the
wheel rotates and when a moment is applied by the torque to the wheel about the axis,
thereby making together and also easy movement of the automatic vacuum machine. When
wheel is placed vertical axis under a load-bearing platform , the wheel turning on the
horizontal axis makes it possible to transport heavy loads efficiently, when placed
horizontally, the wheel turning on its vertical axis makes it possible to control the spinning
motion used to shape materials , when mounted on a column connected to a chassis mounted
on other wheels, one can control the direction of a automatic vacuum cleaner, when
connected to a engine, a wheel control, release, or transmit energy .

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Fig.5.5.7 Wheel

5.5.8 Ultra Sonic Sensor

An ultrasonic sensor is an instrument that measures the distance to an object using

ultrasonic sound waves.

An ultrasonic sensor uses a transducer to send and receive ultrasonic pulses that relay
back information about an object’s proximity.

High-frequency sound waves reflect from boundaries to produce distinct echo patterns.

Ultrasonic sensors are a reliable, cost-effective solution for distance sensing, level, and
obstacle detection.

5.5.8.1 How Ultrasonic Sensors Work

Ultrasonic sensors work by sending out a sound wave at a frequency above the range of
human hearing. The transducer of the sensor acts as a microphone to receive and send
the ultrasonic sound. Our ultrasonic sensors, like many others, use a single transducer to
send a pulse and to receive the echo. The sensor determines the distance to a target by
measuring time lapses between the sending and receiving of the ultrasonic pulse.

The working principle of this module is simple. It sends an ultrasonic pulse out at
40kHz which travels through the air and if there is an obstacle or object, it will bounce
back to the sensor. By calculating the travel time and the speed of sound, the distance
can be calculated.

5.5.8.2 Why use an Ultrasonic Sensor?

Ultrasound is reliable in any lighting environment and can be used inside or outside.
Ultrasonic sensors can handle collision avoidance for a robot, and being moved often, as
long as it isn’t too fast.

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Ultrasonic are so widely used, they can be reliably implemented in grain bin sensing
applications, water level sensing, drone applications and sensing cars at your local drive- thru
restaurant or bank.

Ultrasonic rangefinders are commonly used as devices to detect a collision.

5.5.8.3 Ultrasonic Sensors are best used in the non-contact detection of:

 Presence
 Level
 Position
 Distance

Non-contact sensors are also referred to as proximity sensors.

5.5.8.4 Ultrasonic are Independent of:

 Light
 Smoke
 Dust
 Color
 Material (except for soft surfaces, i.e. wool, because the surface absorbs the
ultrasonic sound wave and doesn’t reflect sound.)

Long range detection of targets with varied surface properties.

Ultrasonic sensors are superior to infrared sensors because they aren’t affected by smoke
or black materials, however, soft materials which don’t reflect the sonar (ultrasonic)
waves very well may cause issues. It’s not a perfect system, but it’s good and reliable.

5.5.8.5 Applications Involving Ultrasonic Detection:

Ultrasonic Distance Measuring

Distance measurement is based on the measurement of time-of-flight. The time between

sending and receiving the reflected sound signal is calculated by the sensor. Ultrasonic
distance sensors, like the MB7360 HRXL-MaxSonar-WR, are used as height monitors,
in bin level measurement and proximity zone detection applications.

 Ex. Distance measurement would be applied in a garage parking

application, sensing when a vehicle is pulled completely into a
garage.

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 The MB7360 has been used as a bin level sensor to detect the
presence or absence of grain and other materials in bin

Fig. 5.5.8 Ultra Sonic Sensor

5.5.9 VACUUM CLEANER

A vacuum cleaner, also known simply as a vacuum, is a device that causes suction in order to
remove debris from floors, upholstery, draperies and other surfaces. It is generally electrically
driven.

The dirt is collected by either a dustbag or a cyclone for later disposal. Vacuum cleaners,
which are used in homes as well as in industry, exist in a variety of sizes and models—small
battery-powered hand-held devices, wheeled canister models for home use, domestic central
vacuum cleaners, huge stationary industrial appliances that can handle several hundred litres
of dust before being emptied, and self-propelled vacuum trucks for recovery of large spills or
removal of contaminated soil. Specialized shop vacuums can be used to suck up both dust
and liquid

Most vacuum cleaners are supplied with numerous specialized attachments, such as tools,
brushes and extension wands, which allow them to reach otherwise inaccessible places or to
be used for cleaning a variety of surfaces. The most common of these tools are:

 Hard floor brush (for non-upright designs)

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 Powered floor nozzle (for canister designs)

 Dusting brush
 Crevice tool
 Upholstery nozzle

5.5.9.1 Specifications

The performance of a vacuum cleaner can be measured by several parameters:

 Airflow, in litres per second [l/s] or cubic feet per minute (CFM or ft³/min)
 Air speed, in metres per second [m/s] or miles per hour [mph]
 Suction, vacuum, or water lift, in pascals [Pa] or inches of water

Other specifications of a vacuum cleaner are:

 Weight, in kilograms [kg] or pounds [lb]

 Noise, in decibels [dB]
 Power cord length and hose length (as applicable)

Suction

The suction is the maximum pressure difference that the pump can create. For example, a
typical domestic model has a suction of about negative 20 kPa.

Input power

The power consumption of a vacuum cleaner, in watts, is often the only figure stated. Many
North American vacuum manufacturers give the current only in amperes (e.g. "6 amps"), and
the consumer is left to multiply that by the line voltage of 120 volts to get the approximate
power ratings in watts. The rated input power does not indicate the effectiveness of the
cleaner, only how much electricity it consumes.

Output power

The amount of input power that is converted into airflow at the end of the cleaning hose is
sometimes stated, and is measured in airwatts: the measurement units are simply watts. The
word "air" is used to clarify that this is output power, not input electrical power.

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5.5.10 MOP
A mop (such as a floor mop) is a mass or bundle of coarse strings or yarn, etc., or a piece of
cloth, sponge or other absorbent material, attached to a pole or stick. It is used to soak up
liquid, for cleaning floors and other surfaces, to mop up dust, or for other cleaning purposes.

There are two types of mops:

 Dry Mops

 Wet Mops

Dry mop, dust mop

A dry mop or dust mop is designed to pick up dry, loose contamination such as dust, earth,
and sand from the surface of the floor. It consists of yarn and/or microfiber and can be used
as a first step in cleaning a floor.

Professional dry mops consist of a flat sheet of microfiber textile or sheets with a surface of
looped yarn, usually about 15 cm (6 in) wide, and comes in variable lengths .

The dry mop can in many instances replace a broom and has the ability to hold a limited
amount of dust or sand within itself. The heads of dry mops are often removable and can be
washed and replaced when saturated with dust.[5] Another option is using a vacuum cleaner to
suck surface dust away from the mop; however, this is much more limited in its effectiveness.

Single-use dry mops are also available and widely sold.

Wet-mop, moist-mop
A wet mop or moist mop is, in professional cleaning, used as in the second step in the
cleaning of a surface. The wet mop is swept over the surface to dissolve and absorb fat, mud
and dried-in liquid contaminations. Professional wet mops consist of a flat sheet of microfiber
textile or a sheet with a surface of looped yarn (which might contain microfiber as well),
usually about 15 cm (6 in) wide, and come in various lengths (usually 30–100 cm ).

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Fig. 5.5.10 Mop

5.5.11 SMALL WATER TANK

Water tanks are used to provide storage of water for use in many applications, drinking
water, irrigation agriculture, fire suppression, agricultural farming, both for plants and
livestock, chemical manufacturing, food preparation as well as many other uses. Water tank
parameters include the general design of the tank, and choice of construction materials,
linings. Various materials are used for making a water tank: (polyethylene, polypropylene),
fiberglass, concrete, stone, steel (welded or bolted,[1] carbon, or stainless).

Fig. 5.5.11 Small Water Tank

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5.6 SOFTWARE METHODOLOGY

5.6.1 Image Capturing

We will make use of some basic parameters over camera so for example the resolution,
brightness, contrast and the frame rate. After that we used some default values for our
brightness, contrast and saturation. You can play with these parameters adding your own.
Next is frame per second. So its default value is 0 means our camera will try to capture as
many frames it can.

But if you have to capture 30 frames per second then we can specify 30 as a parameter. Let's
say if we want to capture 100 frames so we can specify a hundred here. But we will specify
the zeros so that our camera can try to capture maximum frames as much as it can.

5.6.2 Video Capturing

In this section, we have to access a video from a raspy cam. Here we are not going to make
use of any different function. Rather than that we will use a different approach. Initially we
read video before displaying. In OpenCV, video can either be read by using feed from camera
or by reading a video file. After reading, we will display the video frame by frame. The frame
of a video is simply an image and we display each fame the same way we display image that
is we use functions like imshow(), in which window automatically fits to image size. As in
the case of image, we use the wait Key() in order to pause each frame in the video. In the case
of image, we pass “0” to the wait Key() function, but for playing a video, we need to pass
number greater than “0” to the wait Key() function. This is because “0” would pause the
frame in the video for an infinite amount of time and in video we need each frame to be
shown only for some finite interval of time. So, we need to pass number greater than “0” to
the wait key function. This number is equal to the time in milliseconds we want each frame to
be displayed. In rare cases, when the playback needs to be at a certain frame rate , we may
want a delay higher than one millisecond.

For this project I will use it resolution of 360 by 240 for our image processing. We will not
process our images in high quality or in full HD because our Raspberry Pi cannot handle the
image processing at high bitrate. We can see at high resolution and most importantly 360 by

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240 frame is enough to capture all the details that we want. So there's no point to capture a
high resolution images for our image processing.

5.6.3 Calculation of Frames Per Second

Now in this step we will calculate the total frame rate for our video stream. FPS can be
defined as the number of full screen images that are displayed each second. It has wide range
of application in video and playback and is also used to measure the game performance.
Here, this function is just created to make the processor busy.

Each frame is a still image; displaying frames in quick succession creates the illusion of
motion. The more frames per second (fps), the smoother the motion appears. In general, the
minimum fps needed to avoid jerky motion is about 30.

5.6.4 Convert Image Signature

The function cVtColor in C++ converts the image given as input from one color space to
another. When we want transformation of color space from RGB to any other color space we
have to mention it explicitly(RGB OR BGR). By default the color format in OpenCV is RGB
but the bits are actually reversed i.e BGR . Therefore the first byte in standard color image is
8-bit Blue component ,next is Green and the third component will be Red. For linear
transformations we don’t need to expilcitly provide the range for RGB color image but in
case of non-linear transformations the image should be properly normalized to a proper pre-
defined value of range to get the proper results. If we use this function for 8-bit images some
information will be lost during conversion. So it is better to use cVt Color function with 32-
bit images so that information is retrieved and is not lost. This function will automatically
convert the image before operation for the applications that will provide the full range of
colors.

5.6.5 Threshold Operations

Thresholding is one of the simplest segmentation method used in OpenCv4. It has wide
range of applications in separating the areas of an image corresponding to the object we want
to analyze. This separation principle is based on the difference in the intensities of object
pixels and background pixels. For differentiating the pixels from an image which we want to
remove the intensities values are compared with respect to a threshold value which is
determined according to the problem which we solve. Once the pixels are separated out

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properly we can provide them predetermined value so that it becomes easy to identify them.
In OpenCV4 the function thresholds perform different thresholding operations. They are
namely Threshold Binary , Threshold Binary(Inverted) , Truncate , Threshold to Zero and
Threshold to Zero(Inverted).

5.6.6. Canny Edge Detection

It is a popular edge detection algorithm which is been used in OpenCV4. The function used
for such detections are cv.Canny. It is a multistage process which can be explained through
the below following steps:-

 NOISE REDUCTION
In the very beginning since the edge detection is sensitive to noise therefore it is
essential to remove noise in the image using a Gaussian filter of dimension (5*5).
 FINDING INTENSITY GRADIENT OF THE IMAGE
Now the smoothend image is filtered in both horizontal and vertical direction using
Sobel Kernel to get the first derivative in horizontal and vertical directions
respectively. Using these images we find edge gradient and direction for each pixel in
the image. The Gradient direction is always perpendicular to the edges of the image
object .
 NON-MAXIMUM SUPRESSION
After determining the magnitude of gradient and direction the image is scanned and
unwanted pixels are removed which does not comprises of the image. At every pixel
point it is been verified that its local maximum is in the neighbourhood direction of its
gradient.

Fig.5.6.6.1 Candy Edge Detection

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 HYSTERESIS THRESHOLDING
As the name suggest this stage decides whether the edges are real or not. The edges
are evaluated on the basis of two threshold values which are min Val and max Val.
The edges which have intensity gradient more than max Val are sure to be edge while
thos edges which have intensity gradient less than min Val are non-edges i.e. not real
edges. For those edges whose intensity lie between the specified interval value are
considered to be a part of edges and are sure-edges. Otherwise they too can be
discarded.

Fig. 5.6.6.2 Hysteresis Graph

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CHAPTER-6
RESULT

(a) (b)

(c) (d)

(e)
Fig 6. Axial Representation Of Automatic Vacuum Cleaner
A).TOP VIEW B).BOTTOM VIEW C).FRONT VIEW D) .BACK VIEW
E)ISOLATED VIEW

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 The robot which we design will facilitate efficient floor cleaning with sweeping and
mopping operations.

 It will work only in automatic mode or with the help of remote control .

 It will also provide the hurdle detection in case of any obstacles that comes in its way,
hurdle is detected using ultrasonic sensor.

 ultrasonic sensor also helps in detecting depth such as stair which prevent robot from
falling.

 Our design will be helpful in overcoming the limitation of the existing technology,i.e.
instead of zigzag movement of the robot, our system will follow straight path (edge
detection).

 Along with sensor the robot also consist of vacuum pump, mop and battery .

 vacuum pump help in sucking dust, and this suction of dust will take place from the
front side of model.

 mop is used in case we want wet mopping.

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CHAPTER-7
CONCLUSION AND SCOPE FOR FUTURE WORK
The autonomous vacuum cleaner is not yet ready for commercialization ,which was never
the goal of the project. Many of the achieved result are very promising .the shape of the
robot is well suited for the application specially for the task like cleaning along the ball, along
legs and corners. the ultrasonic sensor is able to identified obstacles .The combination of the
robot shape and ultrasonic sensor system and its algorithm play well together and make the
task of cleaning an unknown and un structure environment feasible.

The future work of robot may include

 Image/video captured of a objects can be fed to the controller so that the robot can
clean the entire house according to the input fed.

 Currently image is captured only for edge detection for movement in proper path, not
for object detection.

 The cleaning mechanism on the robot can be replaced by a handlike structure so that
it can lift things from one place to another.

 Voice controlled locomotion of robot instead of remote control.

 Automatic charging.

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REFERENCE

[1] https://www.ijert.org/research/arduino-based-cleaner-robot-IJERTCONV5IS01145.pdf

[2] http://www.standardsuniversity.org/wp-content/uploads/Smart-Floor-Cleaning-Robot-
CLEAR.pdf

[3] https://pdfs.semanticscholar.org/59be/a86b03a6470f25921be23ae3c43f2463c810.pdf

[4] https://www.techhive.com/article/3281014/how-a-robot-vacuum-navigates-your-
home.html

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