© 2020 JETIR April 2020, Volume 7, Issue 4 www.jetir.

org (ISSN-2349-5162)

DESIGN AND FABRICATION OF WET AND DRY

FLOOR CLEANER WITH IOT BASED
CONTROL
Mr. T. Jayananda Kumar1, Y. Vinay Kumar2, K.Anil Chandra3, R.Ashok Kumar4, Y.Rajendra5
1
Professor, 2345U.G Scholars, Department of Mechanical Engineering,
12345
Godavari Institute of Engineering and Technology (Autonomous), Rajahmundry,
Andhra Pradesh, India.

ABSTRACT:

Cleaning is essential in our daily life. We may not realize that many products used around the houses,
colleges and workshops may cause harmful effects. In house hold products there also contains so many of the
harmful components that can cause dizziness and respiratory tract irritation. This project is applicable to clean
the floors which are wet and dry. Current project work targets to use floor cleaner machine to clean household
purpose and office floors. Cleaning is specially carried out by continuous relative motion between scrubber and
floor for wet floors and for dry floors vacuum cleaner is used to suck the dry dust. These floor cleaner saves huge
cost of labour in future. It reduces the cleaning time and cost effective. It cleans more accurate. This floor cleaner
can be modernized by connecting electric and mechanical motors.

KEY WORDS: IOT module, LCD module, Micro controller, Vacuum cleaner, Water pump.

1. INTRODUCTION:
Swachh Bharat Abhiyan or Swachh Bharat mission is nation wide campaign in india for the period 2014
to 2019 that aims to clean up the streets, roads and infrastructure of India cities, towns, urban and rural areas.
Small and medium enterprises engaged in manufacturing of cleaning equipment such as rubbers, wipers, twist
mops and street brooms have been an up stick of up to 30 percent in business, when Swachh Bharat Mission
launched. Business in these sector are upbeat as the mission has given them an breather aim an increasingly stiff
competition put up by modern day retail outlets. There is huge demand for cleaning machines for purpose of
road, floor cleaning.

Robot is an electromechanical machine and used for various purposes in industrial and domestic
applications. Robot appliances are entering in the consumer market, since the introduction of Robot’s. Initially
the main focus was on having a cleaning device. As the time pass on many improvements were made and more
efficient appliances were developed. In early 2010, a new automatic floor cleaner robot “Mint” was developed by
Jen Steffen. Detachable clothes were attached for sweeping and mopping purposes. For tracking mint used the
GPS-like indoor localization system. In recent years, robotic cleaners have taken major attention in robotic
research due to their effectiveness in assisting humans in floor cleaning applications at homes, hotels, restaurants,
offices, hospitals, workshops etc. Basically, robotic cleaner are distinguished on their cleaning expertise like
floor mapping, dry vacuum cleaning etc. Each cleaning and operating mechanism of robotic floor cleaners has its
own advantages and disadvantages. Floor cleaner is a compact robotics system which provides floor cleaning
service in room and big offices reducing human labour. Basically as a robot it eliminates human error and
provides cleaning activity with much more efficiency. If we clean the floor manually then there is a possibility
that the operator will leave some portion of the floor. Also due to manual labour involved this is time consuming
and irritating to clean the floor. Also in big offices floor area is very huge and the people involved there for
cleaning purpose cannot clean it much more efficiently. This is where the robot comes as an advantage. Also the
robot is small and compact in size. So we can carry it and place it wherever we can on the house. Also in

JETIR2004341 Journal of Emerging Technologies and Innovative Research (JETIR) www.jetir.org 1070
© 2020 JETIR April 2020, Volume 7, Issue 4 www.jetir.org (ISSN-2349-5162)

industries the robot is very cost effective as compared to manual labor involved. The flexibility, time saving and
efficiency make the robot a clean choice for cleaning the floor.

In the modern era, the IoT Floor Cleaner is required. Thus, the cleaner is designed in such a way that it is
capable of cleaning the area reducing the human effort just by starting the cleaning unit. This Project is designed
to build and program it in such a way, that it can move around freely and clean a specific area by the vacuuming
process. With the advancement of technology, robots are getting more attention of researches to make life of
mankind comfortable. This projects presents the design, development and fabrication of prototype IoT based Dry
and Wet floor cleaner Robot. This robot operates using Internet based Wireless control system. It contains
additional features like dirt container with air vacuum mechanism. This work is very useful in improving life
style of mankind.

2. LITERATURE REVIEW:

H. Asada, et.al [1].This paper presents a design and implementation of a motion control system for a
cleaning robot based on infrared sensors. An infrared sensor system has been developed for complete coverage
navigation of a floor cleaning robot. As the robot adopts a complete coverage cleaning strategy and executes
back and forth cleaning task the infrared sensors can help robot align with walls and keep the robot stay in the
planned path. Moreover a landmark has been designed for navigation control using multi directional infrared
signals. Each of them has a unique digital code to facilitate the robot memorize a cleaned area. Thus the robot
can complete the cleaning task efficiently in an environment with unexpected ‘Static Obstacles’.

T. Palleja, et.al [2].This research work describes the key features of the latest available resource
constrained hardware platforms for slot applications. Based on these features specific production are
recommended for each platform to utilize their hardware capabilities efficiently. Structure, architecture and
operational features of recommended are described that make efficient use of hardware architectural potentials of
devices employed in slot applications. Therefore a comparative study is presented on features of hardware
architectures particularly focused on resource constrained devices. While enabling these necessary features in
architecture associated challenges that may arise and should be taken into account are also articulated in this
paper. Thus, the study opens doors for future work since following the proposed recommendations, more robust
algorithms can be implemented to better utilize the specific hardware architectural features of devices in slot
applications. Moreover, this research can be taken as initiating guidelines for developers to design an efficient to
meet the demand of futuristic IOT and slot applications.

Jens-Steffen Gutmann, et.al [3].This paper presents 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. This proposed work provides the
hurdle detection range is 1ft. RF modules provide wireless communication between remote and robot and their
range is 50m. If there is hurdle in the way of robot, it sends the information to the remote which gets displayed
on the LCD. An automatic water sprayer is attached which sprays water for mopping purpose for the
convenience of the user. User can also operate this robot manually with the help of remote. It reduces the labour
cost and saves time also provides efficient cleaning. In automatic mode, the robot operates autonomously. The
operations such as sweeping, mopping and changing the path in case of hurdle are performed automatically.

3. INTERNET OF THINGS

The Internet of things (IOT) is the inter-networking of physical devices, vehicles buildings, and other
items—embedded with electronics, software, sensors, actuators, and network connectivity that enable these
objects to collect and exchange data. In 2013 the Global Standards Initiative on Internet of Things (IOT-GSI)
defined the IOT as "the infrastructure of the information society." The IOT allows objects to be sensed or
controlled remotely across existing network infrastructure, creating opportunities for more direct integration of

JETIR2004341 Journal of Emerging Technologies and Innovative Research (JETIR) www.jetir.org 1071
© 2020 JETIR April 2020, Volume 7, Issue 4 www.jetir.org (ISSN-2349-5162)

the physical world into computer-based systems, and resulting in improved efficiency, accuracy and economic
benefit in addition to reduced human intervention. When IOT is augmented with sensors and actuators, the
technology becomes an instance of the more general class of cyber-physical systems, which also encompasses
technologies such as smart grids, smart homes, intelligent transportation and smart cities. Each thing is uniquely
identifiable through its embedded computing system but is able to interoperate within the
existing Internet infrastructure. Experts estimate that the IOT will consist of almost 50 billion objects by 2020.

4. BLOCK DIAGRAM OF IOT BASED FLOOR CLEANER

Fig 1: BLOCK DIAGRAM OF IOT BASED FLOOR CLEANER

JETIR2004341 Journal of Emerging Technologies and Innovative Research (JETIR) www.jetir.org 1072
© 2020 JETIR April 2020, Volume 7, Issue 4 www.jetir.org (ISSN-2349-5162)

5 MAJOR COMPONENTS AND THEIR DESRIPTIONS:

ARDUINO IDE
The Arduino integrated development environment (IDE) is a cross-platform application
(for Windows, macOS, Linux) that is written in the programming language Java. It is used to write and upload
programs to Arduino compatible boards, but also, with the help of 3rd party cores, other vendor development
boards. The Arduino IDE supplies a software library from the Wiring project, which provides many common
input and output procedures. User-written code only requires two basic functions, for starting the sketch and the
main program loop, that are compiled and linked with a program stub main() into an executable cyclic
executive program with the GNU tool chain, also included with the IDE distribution. The Arduino IDE employs
the program argued to convert the executable code into a text file in hexadecimal encoding that is loaded into the
Arduino board by a loader program in the board's firmware.
Arduino is a prototype platform (open-source) based on an easy-to-use hardware and software. It consists of
a circuit board, which can be programmed (referred to as a microcontroller) and a ready-made software called
Arduino IDE (Integrated Development Environment), which is used to write and upload the computer code to
the physical board.

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 liquids. 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 surface
DC PUMP
A pump is a device that moves fluids (liquids or gases), or sometimes slurries, by mechanical action.
Pumps can be classified into three major groups according to the method they use to move the fluid: direct
lift, displacement, and gravity pumps. Pumps operate by some mechanism (typically reciprocating or rotary), and
consume energy to perform mechanical work moving the fluid. Pumps operate via many energy sources,
including manual operation, electricity, engines, or wind power, come in many sizes, from microscopic for use in
medical applications to large industrial pumps.
Mechanical pumps serve in a wide range of applications such as pumping water from wells, aquarium
filtering, pond filtering and aeration, in the and natural gas or for operating cooling towers and other components
of heating, ventilation and air conditioning systems. In the medical industry, pumps are used for biochemical
processes in developing and manufacturing medicine, and as artificial replacements for body parts, in particular
the artificial heart and penile prosthesis.

Fig 2: DC PUMP

JETIR2004341 Journal of Emerging Technologies and Innovative Research (JETIR) www.jetir.org 1073
© 2020 JETIR April 2020, Volume 7, Issue 4 www.jetir.org (ISSN-2349-5162)

LCD 2X16 MODULE

A liquid-crystal display (LCD) is a flat-panel display or other electronic visual display that uses the light-
modulating properties of liquid crystals. Liquid crystals do not emit light directly. LCDs are used in a wide range
of applications including computer monitors, televisions, instrument panels, aircraft cockpit displays, and
signage. They are common in consumer devices such as DVD players, gaming devices, clocks, watches,
calculators, and telephones, and have replaced cathode ray tube (CRT) displays in nearly all applications. They
are available in a wider range of screen sizes than CRT and plasma displays, and since they do not use
phosphors, they do not suffer image burn-in. LCDs are, however, susceptible to image persistence.

Fig 3: LCD 2X16 MODULE

BLYNK APPLICATION

BLYNK application is used to control the robot by connecting it to TOT. It consists of control buttons
they are forward, backward, left, right, vacuum cleaner ON/OFF.

6. WORKING OF FLOOR CLEANER

In this proposed system we have designed a IOT based Floor Cleaning Robot. This Robot is equipped
with the DRY and WET cleaning Mechanism. This Robot has an advance controlling feature using IoT
Technology. Floor Cleaning Robot can be controlled from anywhere in the World using IOT based Blynk
Application. This entire system is developed using Arduino Microcontroller Board, LCD Module, Vacuum
Cleaner, IOT Wifi Module Node MCU, DC Pump, Blynk Application and Battery as Major Components. User is
provided with an IOT based Blynk Android Application. Mobile Phone and Robot has to be connected with
Internet. User Interface / control panel of Blynk Application contains button such as (Forward, Backward, Left,
Right, and Pump ON /Off, Vacuum On / off). User control command sends to Robotic vehicle from Blynk
Application wirelessly using Internet Technology. Node MCU Receives command from Internet and send signal
to Arduino Microcontroller. Microcontroller unit process the data and control DC Motors and Relay unit
respectively. LCD Module is used for user notification such as Robotic Movements and Dry or Wet Cleaning
Status.

Dry Floor Cleaning is done using DC Powered Vacuum cleaner and Wet Cleaning is done using Water
Sprinkler with cylindrical Mopping roller. This entire System is powered using 12V / 4.5 Ah batteries. The
power supply and Charging section of the system contains a step down transformer of 230/12V, used to step
down the voltage to 12VAC. To convert it to DC, a bridge rectifier is used. Capacitive filter is used which makes
use of 7805 voltage regulator to regulate it to +5V that will be needed for microcontroller and other components
operation, in order to remove ripple. To Power Vacuum Cleaner Separate 12V / 3Amp Transformer based Power
Supply system is used.

Advantages

 It gives accurate results and eliminates possibility of manual error.

 It is very first and efficient and the control system used in industries are 100 times efficient than human
work.

JETIR2004341 Journal of Emerging Technologies and Innovative Research (JETIR) www.jetir.org 1074
© 2020 JETIR April 2020, Volume 7, Issue 4 www.jetir.org (ISSN-2349-5162)

 In some part of the work areas it lessens the human efforts. Washing machine comes under this category.
 It also plays the great role in bringing entertainment in human life in different work.

Applications

 Industries
 Offices
 Schools

7. FUTURE SCOPE

In future enhancement of the project we can use different types of brushes for sweeping the floor based on the
nature of the floor. The user has to change the brushes according to the floor manually. In manual mode user it
can control the robot. The project can be extended to Municipality Corporation for cleaning rough surface by
using IOT.

8. CONCLUSION

This floor cleaner facilitates efficient floor cleaning. User can operate this floor cleaner by using smart
phone. It reduces labour cost and saves time also and provides efficient cleaning.In proposed technique we
implemented microcontroller based floor cleaning robot to sweep the dust and unwanted waste in the floor. DC
geared motor, motor driver, vacuum cleaner and DC pump are the main components of the floor cleaner. DC
geared motor and other components are interface with Microcontroller board. Thus the system can be used in
floor cleaning system in houses, hotels, workshops, hospitals and ware houses.

9. REFERENCES

[1] H. Asada. Design and implementation of motion control system for a cleaning robot based on infrared sensors
(1986).

[2] J Frolizzi C.Disalvo. Service robots in the domestic environment. A study of vacuum in the home. In
International Conference on human robot interaction HRI, March 2006.

[3] G Tuangzhi Dai and Tiequn Chen. Design on measurement and control system of cleaning robot based on
sensor array detection. In International conference on control automation. Guangzhou, China, 2007.

[4] Xueshan Gao, Kejie Li, Wang, Guangliang Men, Dawei zhou and koki kikuchi. A floor cleaner robot using
Swedish wheels. In international conference on robotics and biometrics, China, 2001.

[5] Youngkaa Ma. A study on development of the home mess cleaning robot McBot. In IEEE international
conference on advanced mechtronics,Xian, China, 2008.

[6] J-Y Sung, R.E. Grinter and H.I Christensen and L.Go. House wives domestic robot technology International
Journal of social robotics, 2010.

[7] J-S Gutmann, E.Eade, P. Fong and M.E. Munich, Vector field slam. In International Conference on Robotics
and Automation(ICRA) 2010.

[8] T. Palleja. Design of the floor cleaner with efficient needs for futuristic IoT applications, 2010.

[9] Evolution Robotics Inc. Introducing Mint the evolution of floor care, 2011.

[10] Jens- Steffen Gutmann. The social impact of the systematic floor cleaner. In IEEE International work shop
on advance robotics an its social impacts, University Munchen, Germany, 2012.

JETIR2004341 Journal of Emerging Technologies and Innovative Research (JETIR) www.jetir.org 1075