REDESIGNED AUTOMATED FLOOR VACUUM CLEANER USING SENSORS

BY

SOYELU OLUWASOGO ABAYOMI

MATRIC NO. NOU171007521

SUBMITTED TO THE DEPARTMENT OF COMPUTER SCIENCE, FACULTY

OF SCIENCE

IN PARTIAL FULFILLMENT OF THE REQUIREMENT FOR THE AWARD OF

BACHELOR DEGREE (B.SC) IN COMPUTER SCIENCE

OCTOBER, 2023
 CERTIFICATION

This is to certify that this project was written and submitted by SOYELU OLUWASOGO ABAYOMI

with Matric No: NOU171007521 of Department of Computer Science, Faculty of Science, National

Open University of Nigeria, Abeokuta, Study Center, Ogun State, in partial fulfillment for the award

of Bachelor Degree in Computer Science

______________________ ______________
DR. CHIGOSIRIM AJAEGBU DATE
SUPERVISOR
 DEDICATION

This research project is dedicated to the Alpha and Omega God, the giver of knowledge , the
custodian of my life, the One who was and is to come, the all sufficient God who provide for me all
through my stay in School. And to my wonderful parents Mr. & Mrs. Soyelu for their support before,
during, after and always. They the best coach / parent in the world, I promise to make you proud
and be of a good character for your huge investment over my life.
 ACKNOWLEDGEMENT

My greatest acknowledgement and sincere appreciation goes to Almighty God the most

merciful one who has seen me through this program.

I will be greatly indebted if I fail to appreciate my caring parent Mr. and Mrs. Soyelu for all

their prayers, moral and financial support also May God continue to bless you and may you sit back

and confidently eat the fruit of your labour (Amen).

My sincere gratitude goes to my Supervisor, my coach of all coaches, DR. CHIGOSIRIM

AJAEGBU for his care and for painstakingly supervising my project, Mr. David Shaibu of John Best

Computer for piece of advice and putting finishing touches to the project. May God bless you all.
 ABSTRACT

Households are getting more automated, which means more convenience and less time spent on

household chores. While vacuum cleaners have made housecleaning easier, they might be too loud and

inconvenient to use on a regular basis. This paper describes the development of a small and effective floor

cleaning robot for use in the business and at home.An Arduino uno microcontroller is used to control the

constructed robot, which can vacuum and clean. It collects dirt and houses dust mites in a little

compartment. It has also been demonstrated that the vacuum does not overheat even after being run for an

hour. As a result, no cooling fan is required. The robot steers with the assistance of two motor shield-

controlled rear wheels and a front caster wheel that also controls turning. Obstacles are detected by two

ultrasonic sensors that are 90 degrees apart and assist the robot in navigating. The robot is powered by

two batteries (9 V each). With two batteries, it should last around an hour and a half before running out of

power.Finally, with this functionality, the device will be deployed for business and residential usage,

making cleaning a fully autonomous task.

TABLE OF CONTENT

DECLARATION Error! Bookmark not defined.

CERTIFICATION 3
ACKNOWLEDGEMENT 4
ABSTRACT 6

TABLE OF CONTENT 6
CHAPTER ONE 1
1.1 BACKGROUND OF THE STUDY Error! Bookmark not defined.
1.2 PROBLEM STATEMENT 2
1.3 AIM AND OBJECTIVES 3
1.4 METHODOLOGY 3
1.5 SIGNIFICANCE OF STUDY 3
1.6 SCOPE OF STUDY 4
1.7 JUSTIFICATIONS OF STUDY 4
1.8 ORGANIZATION OF STUDY 4

CHAPTER TWO 6
2.0 INTRODUCTION 6
2.1 MAJOR FIELDS OF ROBOTICS 7
2.1.1 MOBILITY OR LOCOMOTION 7
2.1.2 MANIPULATORS AND EFFECTORS 7
2.1.3 PROGRAMMING 8
2.1.4 PERCEPTION AND SENSORS 8
2.1.5 OPERATOR INTERFACE 9
2.2 ESSENTIAL CHARACTERISTICS OF A ROBOT 9
2.3 TYPES OF ROBOTS 10
2.3.1 AUTONOMOUS ROBOTS 10
2.4 FUNCTIONALITY OF ROBOTS 10
2.4.1 INDEPENDENT ROBOTS 11
2.5 APPLICATIONS OF ROBOTS 11
2.6 RELATED WORKS 11
2.7 SUMMARY 13

CHAPTER THREE 14
3.0 INTRODUCTION 14
3.1 METHODOLOGY 14
3.2 ARDUINO UNO R3 14
3.3 DC MOTOR 15
3.4 L298N MOTOR DRIVER 16
3.5 VACUUM 17
3.6 TOUCH SENSOR 18
3.7 ULTRASONIC SENSORS 19
 3.8 5V RELAY 20
3.9 BLOCK DIAGRAM 21
3.10 CIRCUIT DIAGRAM 23
3.11 FLOWCHART 23
3.12 IMPLEMENTATION 24
3.13 CONCLUSION 25

CHAPTER FOUR 26
4.0 INTRODUCTION 26
4.1 COMPONENT AND SYSTEM TESTING 26
4.1.1 CIRCUIT EXPLANATION 26
PIN ASSIGNMENT (LEFT ULTRASONIC SENSOR): 27
PIN ASSIGNMENT (RIGHT ULTRASONIC SENSOR): 27
INTERFACING CODE EXPLANATION 27
4.1.1.2 INTERFACING L298N MOTOR DRIVER AND DC MOTORS WITH ARDUINO 30
PIN ASSIGNMENT(RIGHT DC MOTOR): 31
PIN ASSIGNMENT(LEFT DC MOTOR): 31
INTERFACING CODE EXPLANATION 32
4.1.1.3 INTERFACING TOUCH SENSOR, RELAY MODULE AND VACUUM UNIT WITH
ARDUINO 35
PIN ASSIGNMENT 35
INTERFACING CODE EXPLANATION 35
4.2 IMPLEMENTATION 37
4.3 ERROR DEBUGGING AND TROUBLESHOOTING 39

CHAPTER FIVE 41
5.1 SUMMARY 41
5.2 CONCLUSION 41
5.3 RECOMMENDATION 42
5.4 LIMITATION 42
REFERENCES 43
APPENDIX 48