SMART FLOOR CLEANER CONTROLLED BY RASPBERRY PI

SMART FLOOR CLEANER CONTROLLED BY ARDUINO

ABSTRACT

With the advancement of technology, robots have gotten more attention of researchers to
create lifetime of mankind easy. The actual project presents the look and development of
Floor Cleaning Robot using IEEE Standards. Developing Bluetooth application app
controlled mobile robot. Scan the obstacles ahead of the robot and to avoid collision when the
robot is in motion. Arduino controller is that the main component won’t to control the
cleaning robot. An IR sensor which transmits the Infrared waves from its sensor head and
again receives the signals and sends its output to the Arduino, The IR sensor measures the
space between the robot and therefore the obstacle ahead of it. The Arduino will stop the
robot immediately and also the buzzer are actuated. The moping operation will be started or
stopped at any point of your time as per the need. The moping brush is actuated by the DC
motor fixed thereto. Signal to the present motor is fed by the controller.

Keywords - Arduino Uno; IR Sensors; DC Motor; wheels. Bluetooth,

1. INTRODUCTION

These day’s humans lead a sophisticated life. People within the cities don't have regular and
have long working times. In such a situation someone will choose time saving methods. Thus
robots have taken the manual works. For career oriented and job going women it becomes
hectic to handle home and office together. Traditionally floor is cleaned with the assistance of
mop or wet mop using the hand as a possible tool. they need to clean hard on the surface. The
cleaning includes cleaning of varied surfaces basically cement floors, highly polished wooden
or marble floors. Among these floors the rough surface floor like cement floor, mostly
present in semi urban areas are covered with such a lot dust which needs longer for cleaning.
For saving the time the necessity was of House Cleaning Robot, which is an automatic
system that works and cleans on its own without human control/intervention. Autonomous
robot for floor cleaning application reduces much time in lifestyle. It performs sweeping and
mopping tasks at a time, it also does obstacle detection, and also has automatic water spray.
Service robots are getting popular recently these robots operate semi- or fully automated to
perform services helpful within the well-being of humans and equipment. Robots of types
including medical robots, underwater robots, surveillance robots, demolition robots and other
styles of robots those do a multiple jobs. they'll clean floors, mow lawns and guard homes

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and can also help in assisting old and disabled people, perform some surgeries, checking
pipes and sites that are highly dangerous to people, fight fires and defuse bombs.

1.1 AIM:

The aim of the project is to measure the Autonomous robot for floor cleaning application
reduces much time in lifestyle.

1.2 OBJECTIVE:
 To scan the obstacles earlier than the robot and to avoid collision when the robot is in
motion.
 To test the trail status using IR sensor.
 To create a robot this carries out sweeping operation efficiently.
 To try to moping operation whenever needed along with sweeping.

1.3 PROBLEM DEFINITION:

Nowadays, people lead a busy life. People in urban have abnormal and long working hours.
In such a situation an individual will always find ways of saving time.
 For career oriented and dealing women it's hard to handle home together with job work.
 Normally floor is cleaned with the utilization of dry mopped or wet mopped using the hand
as a base tool. They need to be scrubbed hard on the surface.
 The cleaning module includes cleaning of varied surfaces like cement floors, highly
polished wooden or marble floors.
 The rough surface areas like cement floor, are covered with heavy dust which consumes
longer in cleaning.

1.4 LITERATURE SURVEY

Floor cleaning robot may be a trending concept in these recent days. By reviewing different
paperwork and techniques of used several cleaning robots, we've started acting on our design
of floor cleaning robot which is predicated on Arduino Uno3 model. The papers surveyed for
literature review are as follows:

Aishwarya Pardeshi et. al, [1] This paper presents the look, developed and fabricated model
of programmed cleaner robot. this type of robot performs automated function with extra

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features like choose and place mechanism and dirt container with air vacuum mechanism. this
type of labour is straightforward and helpful in betterment of life variety of a mankind.

Ajith Thomas et. al, [2] proposed an autonomous robotic for floor cleaning program. it's
able to perform sucking and cleaning, detection of obstacles, and water spraying.
Furthermore, it's also able to add manual method. All hardware and software functions are
manipulated by Arduino controllermodel.

Vaibhavi Rewatkar and Sachin T. Bagde [3] provided a comprehensive overview of the
technological advantages helped within the real world for the convenience of just about all of
the people that are extremely busy. Consequently, this has led to arriving up with a goal of
constructing an automatic home appliance. The review includes computerized cleaner having
components to DC motor operated wheels, the dustbin, cleansing brush, mop cleansing and
obstruction avoiding sensor. A 12V battery is employed for supplying power. Special
technique of ULTRAVIOLET germicidal cleaning technology. The study has been done
keeping in mind economical expense of product.

Vinod J Thomas et. al, [4] designed a cleaner robot for domestic application. The robotic
contains a cleaning module which may be used for cleaning. The Robot was created in order
that it may well be capable of reach almost every space and corner of any room that it must
be as compact as possible. The working robot is handled using an Android phone using
Wireless Bluetooth Technology. The robot was created with an Arduino microcontroller at its
core. The microcontroller is complemented with communications modules like Wireless
Bluetooth motors and dirt Suction System to work accordingly.

Manya Jain et. al, [5] discussed the event of Automatic Floor Cleaner. The project is often
used for domestic and professional purpose to scrub the surface automatically and manually.
When it's turned ON, it gulps within the dust particles by moving everywhere the surface
(floor or the other area) because it moves over it. the driving force control mechanism are
often wont to drive the motors where robot having the ability to manoeuvre and also the also
few sensors are accustomed detect and avoid the obstacles. this can be often useful in making
the approach to life better for humankind

Abhishek Pandey et. al, [6] reviewed the requirement of a residence Cleaning Automatic
robot. For keeping time there’s a requirement of programmed system that cleans alone
without person interventions. Also, they considered how precisely to help those that have

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physical disabilities. Because that they had to induce this done, they needed a cleaning
system that may add accordance from what we are saying, thus supporting a physically
someone.

Karthick.T et. al, [7] is intended to create up an autonomous automatic robot which will
move itself without constant human instruction. The autonomous cleanser robot involves low
power consuming electric components and it can operate at very low power. Electric parts are
the controller board Atmega 2560, Ultrasonic detectors, transformer IC and motor driver
circuit. Mechanized part is motor unit with gearbox founded. Ultrasonic detectors will
identify obstructions in line with the program being executed. A 12V, 4.5Ah rechargeable
lead acid electrical device is that the energy source for this proposed cleaning automatic
robot.

Manreet Kaur and Preeti Abrol, [8] came up with the working of automatic robot Floor
cleaning. This automatic robot can add any of two methods. All hardware and software
functions are handled by AT89S52 microcontroller. This automatic robot is in a position to
perform sweeping and mopping job. RF modules is getting used for cordless communication
between remote (manual method) and automatic robot has range of 50m. This robot is given
with IR sensor for obstacle recognition and automates water sprayer pump. Four motors are
being employed, two for cleaning purpose, one for pump and one for tires. Dual relay circuit
is employed to work the motors one for the pump and another for the cleaner. In previous
works, there's no use of automated water sprayer and works only in programmed mode. With
the automated mode automatic robot controls all the functions itself and alter the road if just
in case there's hurdle detection and moves back again. With the manual method, the keypad
will be accustomed execute the expected job and operate automatic robot. In manual method,
RF component is employed to transfer the knowledge between remote and automatic robot
and display the data associated with the hurdle detection on LCD. The entire circuitry is
associated with 12V electrical device pack.

Zelun L, Zhicheng Huang, [9] designed a cleaning automatic robot predicated on the
ultrasonic basics. With the sole chip microcomputer AT89C52 and ultrasonic detectors the
robotic can do the characteristic of practical impediment avoidance, programmed manage and
programmed sweeping. Within the cleaning automatic robot, a revolving cylindrical brush is
used before the automated robot and it sweeps garbage in to the dustbin along the way of

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motion, and a mop is used behind the automated robot, and it can sweep the ground when the
automated robot is functioning.

Rupinder Kaur [10] designed a swabbing automatic robot which is extremely good for
cleaning jobs especially in homes, Office buildings, Industries where sanitation could be a
significant matter. Many research organizations are active in locating the most effective
results through the unreal intelligence. Certainly, artificial intellect could be a branch of
technology which makes computers sounds like mind. This product will sweep, and mop the
bottom area with clean and other wiping components; and yes it collects the dust particles
and other small parts in it. Mapping is wont to instruct this small device. These devices is just
too simple to use, very affordable and cleans every nook of the region. Being autonomous, it
could add one’s absence.

S Monika, K Aruna Manjusha et. Al [11] this research paper presents that floor cleaning is
worn out a neater way and efficiently by robot utilizing wireless system. This proposed robot
saves the time and economy of labour. within the previous research papers like robot
household appliance and automatic floor cleaner robot had some drawbacks like colliding
with objects before of it and this vacuum couldn’t reach to small areas and left those areas
unclean and therefore the automatic floor cleaner robot collects the dirt but the downside up
here is that it doesn't clean the wet floor. Few of the drawbacks during this project paper are
overcome. Amit Sharma,

Akash Choudhary et. al [12] the target of this project is to form a totally automated hybrid
home cleaning robot. Which is fully automated and may perform tasks like mopping and
cleaning of floor. After the testing we discover that it can perform all tasks fine with none
hurdle. We tested our robot on various parameters like path following, obstacle avoidance,
navigation, mopping and vacuum mechanism.

LITERATURE REVIEW AT GLANCE

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1.5 METHODOLOGY

This cleaning robot cleans and mops at the same time using the smartphone connection.
Arduino Uno3 is the main controller used to control the cleaning robot. It is a Arduino Uno
model based on. Arduino IDE is open source software in which hardware can be easily used.
Arduino Uno is energized by 12V.Bluetooth application electronics app controls cleaning
robot with an android device. This app communicates using B/T Communication in the robot.
An IR sensor is used for obstacle detection which transmits the infrared waves from its sensor
head and again receives the waves and sends its output signal to the Arduino Uno will stop
the robot immediately and the buzzer will be actuated. The IR sensor measures the distance
between the robot and the obstacle in front of it. If any obstacle is present in front of the
robot, L293DN driver circuit is used to drive the DC motors simultaneously in Forward and
reverse direction. Arduino Uno3 sends the signal to the motor driver circuit that controls and
drives the wheels.

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CHAPTER-2

SYSTEM OVERVIEW

The fig.1 shows block diagram which gives you the overview of the proposed system. The
brief description given bellow.

3.1 BLOCK DIAGRAM

POWER
SUPPLY

DC MOTOR
IR SENSOR

MOBILE L293DN MOTOR

DRIVER
PHONE

MOPPING
Arduino Uno
BLUETOOTH

Figure 1: Block Diagram of proposed system

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2.2 FUNCTIONAL UNIT DESCRIPTION:

The above figure we shows the hardware requirements & Technical approach of the system.
The system consist of mainly Microcontroller (ATmega328), ESP8266-Wi-Fi module,
Sensor networks and control switches. Which are described briefly below.
2.2.1 2.3 Microcontroller ATmega328

Arduino UNO is an open source prototyping platform based on ATmega328 microcontroller.

It consists of 14 digital input/output (I/O) pins, six analogue inputs, a USB connection for
programming the on-board microcontroller, a power jack, an ICSP header and a reset button.
It is operated with a 16MHz crystal oscillator and contains everything needed to support the
microcontroller.

2.2.2 DC MOTOR

.Geared DC motors can be defined as an extension of DC motor which already had its Insight
details demystified here. A geared DC Motor has a gear assembly attached to the motor. The
speed of motor is counted in terms of rotations of the shaft per minute and is termed as
RPM .The gear assembly helps in increasing the torque and reducing the speed. Using the
correct combination of gears in a gear motor, its speed can be reduced to any desirable figure.
This concept where gears reduce the speed of the vehicle but increase its torque is known as
gear reduction. This Insight will explore all the minor and major details that make the gear
head and hence the working of geared DC motor

2.2.3 L293DN MOTOR DRIVER

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. The motor
operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input

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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

2.2.5 INFRARED SENSORS OR IR SENSORS

Infrared radiation is the portion of electromagnetic spectrum having wavelengths longer than
visible light wavelengths, but smaller than microwaves, i.e., the region roughly from 0.75µm
to 1000 µm is the infrared region. Infrared waves are invisible to human eyes. The
wavelength region of 0.75µm to 3 µm is called near infrared, the region from 3 µm to 6 µm is
called mid infrared and the region higher than 6 µm is called far infrared. (The demarcations
are not rigid; regions are defined differently by many).

2.2.6 MOP, SUCKING

The mop, sucking and water pump are the essential part of the cleaning machine. Mop which
is used to clean the surface and sucking unit which collect the dust particle in the floor.water
pump which is used to pumping the water to the floor cleaning the dirt on the surface while
mop is used. Mopping and sucking are the important parts in the cleaning machine. Both
automatic and manual mode of operation the cleaning task is done.

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APPLICATIONS

 Cleaning the wet and dry floors

 A floor cleaning assistant at home and offices
 Can clean the inaccessible areas like underneath of
 sofas bed and table.
 Small particles and can be picked up efficiently.

LIMITATIONS

 Suitable only for flat surfaces.

 Semi automated.

FUTURE SCOPE

 The model that is present in the report above can be optimizedas much as possible.
The recommended additions are:
 The chassis can be built on a PVC polymer. This will reduce the overall weight of the
system
 The suction part can be automated using  Programmable Logic Control for the
sequence of operation.
 The setup can be fully automated without manual interventions
 The dust can be collected using vacuum removal
 Image processing technique can b implied toanalyses the surface cleaning efficiency
using a high quality on board camera.
 Germ less cleaning using UV exposure installed on the vehicle.

CONCLUSIONS

This research facilitates efficient floor cleaning with sweeping and mopping operations. This
robot works in two modes automatic and manual for user convenience. This proposed work
provides the hurdle detection in case of any obstacle that comes in its way. The obstacle
detection range is 1ft. RF modules provide wireless communication between remote and
robot and their range is 50m. A mechanical setup is designed with the synergies of
pneumatics and electronics to provide efficient cleaning system both at ground and as well as
window levels. This contemporary design helps to overcome the limitations of the existing

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technologies and surpass them in terms of robot capability, modularity and payload. These
components determine how well the dirt is collected. As of now, we feel that by adding
brushes and increasing the motor size will do the job. Instead of the one brush underneath
Roomba, we will be using two brushes to maximize cleaning on each side of the
robot.REFERENCES

[1] P. Aishwarya, S. More, D. Kadam, V.A. Patil, “Automatic Floor Cleaner”, IJECT vol. 8,
2017.

[2] T. Ajith, M. S. Rohith, J. Febin, J. Cheriyan, R, Mary George, “An Advanced Mobile
Robot for Floor Cleaning”, International Journal of Advanced Research in Electrical,
Electronics and Instrumentation Engineering, vol. 5, no. 3, 2016.

[3] R. Vaibhavi and S. T. Bagde, “A Review on Design of Automated Floor Cleaning

System”, International Journal on Recent and Innovation Trends in Computing and
Communication, vol. 3, no. 2.

[4] V. J Thomas, B. Xaviour, J. K George, “Cleaner Robot”, International Journal of

Emerging Technology and Advanced Engineering, ISSN 2250- 2459, ISO 9001:2008
Certified Journal, vol. 5, no. 12, 2015.

[5] M. Jain, P. S. Rawat, J. Morbale, “Automatic Floor Cleaner”, International Research

Journal of Engineering and Technology (IRJET), vol. 4, no. 4 , 2017.

[6] A. Pandey, A. Kaushik, A. K. Jha, G. Kapse, “A Technological Survey on Autonomous

Home Cleaning Robots”, International Journal of Scientific and Research Publications, vol.
4, no. 4, 2014.

[7] T. Karthick, A. Ravikumar, L. Selvakumar, T. Viknesh, B. Parthiban. and A. Gopinath,

“Simple Autonomous cleaner Robot”, International Journal of Science, Engineering and
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[8] R. Vaibhavi and S. T. Bagde, “A Review on Design of Automated Floor Cleaning

System”, International Journal on Recent and Innovation Trends in Computing and
Communication, vol. 3 no. 2.

[9] J. T. Vinod, B. Xaviour, J. K. George, “Cleaner Robot”, International Journal of

Emerging Technology and Advanced Engineering, vol. 5, no. 12, 2015.

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[10] M. Jain, P. S. Rawat, J. Morbale, “Automatic Floor Cleaner”, International Research

Journal of Engineering and Technology (IRJET), vol. 04, no. 4 , 2017.

[11] A.Pandey, A. Kaushik, A, K. Jha, G. Kapse, “A Technological Survey on Autonomous

Home Cleaning Robots”, International Journal of Scientific and Research Publications, vol.
4, no. 4, 2014.

[12] T. Karthick, A. Ravikumar, L. Selvakumar, T. Viknesh, B Parthiban. and A. Gopinath,

“Simple Autonomous cleaner Robot”, International Journal of Science, Engineering and
Technology Research (IJSETR), vol. 4, no. 5, 2015.

[13] M. Kaur, P. Abrol, “Design and Development of Floor Cleaner Robot (Automatic and
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[14] [12] Zelun L, Zhicheng Huang, “Design of a type of cleaning robot with ultrasonic”,
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[15] K. Rupinder, “An extremely cost efficient Swabbing Robot”, International Journal of
Engineering and Computer Science ISSN: 2319- 7242, vol. 6, no. 1, 2017.

[16] S Monika, K Aruna Manjusha, S V S Prasad, B.Naresh “Design and Implementation of

Smart Floor Cleaning Robot using Android App” International Journal of Innovative
Technology and Exploring Engineering (IJITEE) ISSN: 2278-3075, Volume-8 Issue-4S2
March, 2019.

[17] S. Amit, A. Choudhary, A. Gaur, and A. Rajpurohit, “Fully automated hybrid home
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[18] N. Fathima, A. Ahammed, R. Banu, B.D. Parameshachari, and N.M Naik, “Optimized
neighbor discovery in Internet of Things (IoT),” In Proc. of International Conference on
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