VISVESVARAYA TECHNOLOGICAL UNIVERSITY

“Jnana Sangama”, Belagavi-590018

Project Work (21MEP76)

on
“SOLAR-POWERED FLOOR CLEANING ROBOT”
Submitted in the partial fulfillment of the requirement for the award of
Bachelor of Engineering
in
Mechanical Engineering
Submitted By
ARVIND A 1GV21ME002
RAMYA P 1GV21ME008
SARATH KUMAR S 1GV22ME426
SURYA S 1GV22ME429
Under the Guidance of
Dr. NARASIMHA C
Associate Professor

Department of Mechanical Engineering

Dr. T THIMMAIAH INSTITUTE OF TECHNOLOGY
(Formerly Golden Valley Institute of Technology)
Kolar Gold Field – 563 120
2024-25
VISVESVARAYA TECHNOLOGICAL UNIVERSITY
“Jnana Sangama”, Belagavi-590018

Project Work (21MEP76)

on
“SOLAR-POWERED FLOOR CLEANING ROBOT”
Submitted in the partial fulfillment of the requirement for the award of
Bachelor of Engineering
in
Mechanical Engineering
Submitted By
ARVIND A 1GV21ME002
RAMYA P 1GV21ME008
SARATH KUMAR S 1GV22ME426
SURYA S 1GV22ME429
Under the Guidance of
Dr. NARASIMHA C
Associate Professor

Department of Mechanical Engineering

Dr. T THIMMAIAH INSTITUTE OF TECHNOLOGY
(Formerly Golden Valley Institute of Technology)
Kolar Gold Field – 563 120
2024-25
Dr. T. THIMMAIAH INSTITUTE OF TECHNOLOGY
Department of Mechanical Engineering
Kolar Gold Fields –563120

CERTIFICATE
Certified that the Project work entitled “SOLAR-POWERED FLOOR CLEANING
ROBOT” is a Bonafide work carried out by ARVIND A USN: 1GV21ME002, RAMYA P
USN: 1GV21ME008, SARATH KUMAR S USN: 1GV22ME426, SURYA S USN:
1GV22ME429 in partial fulfilment for the award of Bachelor of Engineering in Mechanical
Engineering in the partial fulfillment for the award of Bachelor of Engineering in
Mechanical Engineering of the Visvesvaraya Technological University, Belagavi during the
year 2024-25. 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 requirement in respect of
Project Work - 21MEP76 prescribed for the said Degree.

…………………………. …………………………. ………………………….

Signature of Guide Signature of HOD Signature of Principal
Dr. Narasimha C Dr. Manjunatha Babu N S Dr. Syed Ariff

Name of Examiners Signature with Date

01.

02.

03.
 DECLARATION

We hereby declare that the Project work entitled “ SOLAR-POWERED FLOOR

CLEANING ROBOT” submitted to Visvesvaraya Technological University, Belagavi
during the year 2024-25 in the partial fulfillment for the award of Bachelor of Engineering
in Mechanical Engineering is a record of bonafide work carried out by us under the supervision
of Dr. Narasimha C, Associate Professor, Department of Mechanical Engineering, Dr. T
Thimmaiah Institute of Technology – KGF.

We further declare that the work reported in this Project report has not been submitted
and will not be submitted, either in part or in full, for the award of any other degree or diploma
in this institute or any other institute or university.

Place: KGF

Date:

Signature of the Candidate

…………………………….. ……………………………..
Arvind A RAMYA P
(1GV21ME002) (1GV21ME008)

…………………………….. ……………………………..
SARATH KUMAR S SURYA S
(1GV22ME426) (1GV22ME429)
 ACKNOWLEDGEMENT

I express my sincere gratitude to the following people and acknowledge them for
supporting me in completing the Project successfully.
With warm hearts and immense pleasure, I first thank the Almighty for his grace
and blessings, which drove me to the success and pray for the showers through our
life. I would like to express my deep gratitude to Dr. T. THIMMAIAH
INSTITUTE OF TECHNOLOGY for providing excellent infrastructure for the
successful completion of this Project work. I am very much thankful to Dr. SYED
ARIFF, Principal – Dr. TTIT and Dr. MANJUNATHA BABU N S, Head of the
Department, Mechanical Engineering Dr. TTIT for providing support for all
project related activities. My sincere thanks, by heart and soul to our guide Dr.
NARASIMHA C Associate professor, Department of Mechanical Engineering,
Dr. TTIT whose timely support and suggestions went a long way in the
completion of Project. I would like to thank all the teaching and non-teaching
staff of Department of Mechanical Engineering for their constant support and, of
course nothing could have come true without the support and cheerful
encouragement by our parents and friends.

ARVIND.A 1GV21ME002
RAMYA.P 1GV21ME008
SARATH KUMAR S 1GV22ME426
SURYA S 1GV22ME429

i
 ABSTRACT
The development of sustainable and autonomous cleaning solution is increasingly
important in today’s world, especially for maintaining large outdoor and corridor
areas. This project focuses on developing a solar-powered floor cleaning robot
designed to autonomously clean areas using sustainable energy. The robot
charges using solar power which is stored in rechargeable batteries, which offers
an eco-friendly solution for maintaining cleanliness in various environments. Its
primary mechanism consists of the combination of vacuum system, Brushes and
roller brushes which together effectively sweep and suction debris from various
surfaces, ensuring good cleaning.
In addition to its reliable cleaning mechanism, the robot is equipped with advance
sensors to enhance performance. An Ultrasonic sensor helps to detect the
obstacles in the path and changes the direction of the robot preventing it from
colliding with obstacles like walls. An IR sensors detects the presence of the
surface, stopping the robot if no surface is detected to prevent the falls in places
like staircases. This system also allow the user to operate the robot using mobile
phones through Bluetooth. Since it is embedded with Bluetooth module manually
the robot can be controlled within 10 meter radius.
By combining renewable energy with smart automation and manual operations,
this project aims to offer cost effective, energy efficient solution for maintaining
cleanliness in both residential and commercial spaces.
Keywords: Solar Powered, Sensors, Vacuum, Brushes, Rollers, Arduino, HC-05
Bluetooth module, Ultrasonic sensor, Infrared (IR) Sensor.

ii
 CONTENTS

Details Page No
ACKNOWLEDGEMWNT i
ABSTRACT ii
CONTENT iii
LIST OF FIGURES iv
CHAPTER 1: INTRODUCTION
1.1 Mechanism 01
1.2 Advantages 01
1.3 Disadvantages 02
1.4 Applications 02
CHAPTER 2: LITRATURE REVIEW
2.1 Conclusion on Literature Review 05
2.2 Problem statement 06
2.3 Objectives 06
CHAPTER 3: METHODOLOGY
3.1 Process flow diagram 07
3.1.1 Material Selection and Consideration 07
3.1.2 System Design 07
3.1.3 Fabrication 08
3.1.4 Testing and Evaluation 08
3.1.5 Results and Discussions 09

3.2 Components used

3.2.1 Hardware 09

iii
3.2.2 Software 18

3.3 Block Diagram of Working Model 20

3.4 3-D Model 21
3.5 Circuit Diagram 21
3.6 Fabrication Process 22
3.7 Codes and Program 23
3.8 Photography during Fabrication 28
3.9 Testing and Evaluation 29
CHAPTER 4: RESULTS AND DISUSSIONS
4.1Results 30
4.2Discussions 31
CHAPTER 5: CONCLUSION AND FUTURE SCOPES
5.1 CONCLUSION 33
5.2 Future Scopes 34
References 35

iv
 LIST OF FIGURES
Figure Details Page
No No
1.1 Solar-Powered Floor Cleaning Robot 01
2.1 Solar Floor Cleaning Robot 03

2.2 Design and Development of a Smart Solar-Powered Floor 03

Cleaning Machine
2.3 Powered Four-Wheeled Floor Cleaning Robot for Wet and 04
Dry Surfaces
2.4 Solar Floor Cleaner Robot using IOT 04
3.1 Agile Methodology 08

3.2 Arduino UNO 10

3.3 Ultrasonic Sensor 11

3.4 Infrared (IR) Sensor 12

3.5 BO Gear Motor 13

3.6 Motor Driver 13

3.7 Gear Motor 14

3.8 Li-ion Battery 15

3.9 Solar Panel 15

3.10 Acrylic Sheet 16

3.11 HC-05 Bluetooth Module 16

3.12 DC to DC Converter 17
3.13 Cleaning Components 17

3.14 Arduino IDE Software 18

3.15 Fritzing Software 19

3.16 Catia Software 19

v
3.17 (a) Solid Model (Top View) 21

3.17 (b) Solid Model (Front View) 21

3.17 (c) Solid Model (Bottom View) 21
3.18 Circuit Diagram 21
3.19 Chassis 22
3.20 Installation of Components 28
3.21 Robot on Tiles Surface 29
3.22 Robot on Mosaic Surface 29
3.23 Robot on Concrete Surface 29
5.1 Solar-Powered Floor Cleaning Robot 33
5.2 Testing of Solar-Powered Floor Cleaning Robot 33

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 Solar Powered Floor Cleaning Robot 2024-2025

CHAPTER 1
INTRODUCTION
Traditional floor cleaning, especially in large areas like corridors in various places like
school, colleges, offices, homes, apartments, etc. possess several challenges. Manual
cleaning is time-consuming, labor intensive and often inconsistent, and requires regular
human interference with lots of efforts to clean the area frequently. The one way of solution
lies in automation and robotics but with a limitation that an automated cleaning solutions
rely solely on electricity can be expensive to operate and are not eco-friendly, contributing
to higher energy consumption due to the frequent usage.
Our Solar-powered floor cleaning robot offers an effective solution to these problems. By
utilizing solar energy, the robot reduces dependence on traditional power sources, lowering
operational cost and promoting sustainability. It operates autonomously using sensors like
Ultrasonic sensors and Infrared sensors (IR sensor) to navigate and clean efficiently without
human supervision. It can also be operated manually by using mobile through Bluetooth.
1.1 MECHANISMS AND SYSTEMS
The robot uses the vacuum mechanism to collect the dry debris and store it in the built-in
container which can be disposed and has a wiping mechanism to clean the wet surface. The
automation is achieved by the combination of sensors like Ultrasonic sensor and Infrared
(IR) sensors. The robot is manually operated by smart phones using Bluetooth. The solar
cells used in the robots charge the battery which is used to perform the cleaning operations.

Fig 1.1: Solar-Powered Floor Cleaning Robot

1.2 ADVANTAGES OF SOLAR-POWERED FLOOR CLEANING

ROBOT
➢ Eco-Friendly Operations - Utilizes solar energy, reducing dependency on non-renewable
power sources, making it environmentally sustainable.

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➢ Cost Effective - Saves on electricity bills by relying on solar power, especially for large
scale cleaning tasks over time.
➢ Autonomous Functionality - Operates without human involvement, minimizing labor
costs and freeing up time for other tasks.
➢ Manually Controlled - Can be controlled via a Bluetooth providing convenience and
ease to use.
1.3 DISADVANTAGES OF SOLAR-POWERED FLOOR CLEANING
ROBOT
➢ Limited Solar Power Efficiency - In areas with low sunlight or during cloudy days, the
dependence on solar energy may limit charging performance.
➢ Maintenance Requirement - Regular cleaning of solar panels and sensors may be
needed to maintain efficiency, requiring occasional manual intervention.
➢ Navigation Challenges - In highly cluttered or complex spaces, sensors-based navigation
might be less effective, requiring manual adjustments.
➢ Technical Complexity - User may need some technical knowledge to set up, control, or
troubleshoot the robot, which could be a barrier for non-technical user.
➢ Debris Collection Capacity - The robot’s container for debris may need frequent
emptying, especially in large or highly polluted areas, which can limit autonomous
operation.
1.4 APPLICATIONS OF SOLAR-POWERED FLOOR CLEANING
ROBOT
➢ Commercial Corridors - Suitable for cleaning corridors in schools, hospitals, shopping
malls, office buildings and other public places that requires regular maintenance.
➢ Industrial Uses - Can be used in warehouses, factories and production floors to clean
debris, dust and spills helping in maintaining clean and safe working environment.
➢ Public Facilities - Useful for maintaining railway stations, airports, metro stations and
bus depots, where large areas need consistent cleaning without interrupting daily
operations.
➢ Residential Complexes - Can be installed in apartments to clean hallways, courtyards
and common areas, reducing manual labor.
➢ Educational Institutions - Helpful in schools, colleges and universities to keep hallways,
auditoriums clean.
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CHAPTER 2
LITERATURE REVIEW
Prathmesh Roy.et.at [1] carried
The Solar Floor Cleaning Robot is an autonomous system that removes debris and obstacles
without human assistance. It uses a vacuum cleaner and an ultrasonic sensor to detect
obstacles and change its path. The robot is controlled by a Bluetooth terminal and charges
its battery using a solar panel. It performs dry and wet cleaning using a sponge and water
tank. This reduces costs and human effort, enhancing cleanliness in surrounding areas.

Fig: 2.0 Solar Floor Cleaning Robot

Dr. J. Ashok.et.at [2] carried
The floor cleaning robot uses IoT technology to reduce human effort, time consumption, and
labor costs in hazardous areas. It uses sensors like Infrared and proximity sensors to avoid
obstacles and alerts with a buzzer. Manual control is done via Wi-Fi or cellular modules,
allowing users to control the robot using smartphones. The robot operates in dry cleaning
mode using suction devices and IR sensors to detect dirt. The Pic16f877a Microcontroller is
used for automation and manual operations. The L289N motor driver distributes power, and
a solar panel powers the battery. The robot also features a buzzer, LCD display, and relays
for improved efficiency.

Fig: 2.0.1 Design and Development of a Smart Solar-Powered Floor Cleaning Machine

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 Solar Powered Floor Cleaning Robot 2024-2025

Vikas Singh.et.at [3] carried

This project focuses on an autonomous floor cleaning robot that can clean both dry and wet
floors in large areas without human assistance. The robot uses a doubled shaft geared DC
motor with cleaning brushes and four DC geared motors with scrubbers for wet surfaces. A
sensor-actuator control system is embedded in the microcontroller, allowing the robot to
steer autonomously. Ultrasonic sensors help avoid obstacles and walls. The robot is powered
by a solar panel, a Lithium polymer battery, and an Arduino MEGA 2560 microcontroller.
The robot can be used in various locations, including houses, schools, airports, and railway
stations.

Fig: 2.0.2 Powered Four-Wheeled Floor Cleaning Robot for Wet and Dry Surfaces
K. Pradheep.et.at [4] carried
The Solar Floor Cleaner Robot is a self-governing system that uses IoT and Arduino
programming to perform dry and wet cleaning in outdoor areas like terraces, campuses,
hotels, homes, and schools. It uses a vacuum mechanism to remove debris and spray water
on the floor, controlled by an Arduino UNO Microcontroller. The system consists of a solar
panel and a 12V battery, which can be charged through solar energy. The robot uses 3V
motors for movement and a couple of high-speed motors for vacuum and mobbing.

Fig: 2.0.3 Solar Floor Cleaner Robot using IOT

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Ultrasonic sensors help the robot avoid obstacles and can be controlled using a GSM module.
The robot operates autonomously with microcontrollers and Ultrasonic sensors, and can be
controlled using smartphones. This system reduces human effort and costs associated with
cleaning in hazardous areas, such as nuclear power plants and chemical industries.
Author- Research Students of Middle East Collage. et.at [5] carried
The project focuses on a smart vacuum cleaner that uses solar panels to reduce human effort,
labor costs, and maintain sustainability. It uses a hybrid powering system with a 12V battery
and a 12V solar panel, charging with solar energy. The vacuum removes dust and debris,
while the ultrasonic sensor avoids collisions with objects and walls. A Bluetooth module
allows users to operate the system using smartphones. The Light Dependent Resistor (LDR)
detects light and navigates the system to recharge. All sensors are connected to an Arduino,
which functions as the system's brain. The solar-powered charging system is sustainable and
power-saving, while the LDR navigates the system towards sunlight for recharge.
2.1 CONCLUSION ON LITERATURE REVIEW
As observed in the above literature paper there are several existing solar powered robots for
the cleaning purposes by achieving it both autonomously and manually by using various
sensors like Ultrasonic sensor, Infrared (IR) sensors, proximity sensors and LDR for
autonomous operations, and Wi-Fi modules, Bluetooth modules and GSM modules for
operating manually by the user. All the robots works with the help of Microcontrollers like
ESP8266, ESP32, Arduino UNO, Pic16f877a etc. The robots uses different kind of motors
like Gear motors, Servo motors, BLDC motors based on their requirement like torque, speed
and precision. All the motors will be connected using motor driver where commonly used
motor drive used by all of the above five projects is L289N which distribute equal current to
all the motors providing good efficiency. Apart from these the mechanism used for cleaning
operations is Vacuum, Brushes, Rollers and Scrubbers for which is required based on
different cleaning conditions like Dry cleaning and Wet cleaning surface, where vacuum and
brushes is used for dry cleaning and scrubbers are used for wet cleaning. Some of the robots
uses both dry and wet cleaning mechanisms simultaneously like vacuum and scrubbers or
rollers or vacuum and scrubbers and some robots also use sprinkler mechanisms. They help
in cleaning various places and environments including hazardous places where humans faces
difficulty. They reduce routine human efforts. There are few limitations with the above
projects like high cost, low precisions, complex control system for manual cleaning and low
adaptability.

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2.2 PROBLEM STATEMENT

Cleaning larger areas like corridors is labor intensive, time-consuming and costly, especially
with traditional methods that rely on manual effort and energy consumption. There is a need
for automation, energy-efficient solution to ensure cleanliness while reducing costs and
environmental impact.
2.3 OBJECTIVES
➢ Develop an eco-friendly cleaning solution by utilizing solar power to charge the robots
battery which helps to reduce energy consumption.
➢ Design an automated robot equipped with sensors to perform floor cleaning task without
the help of human involvement.
➢ To implement manual control functionality through smartphones using Bluetooth.

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CHAPTER 3
METHODOLOGY
3.1 PROCESS FLOW DIAGRAM

Material Selection and

Consideration

Product Backlog Creation

System Design

Sprint Planning

Fabrication
Sprint Execution

Testing & Evaluation Sprint Review

Next Sprint Planning

Results And Discussions

3.1.1 MATERIAL SELECTION AND CONSIDERATION

In involves selection of materials and components involved in this project like material for
chassis, materials used for designing vacuum cleaner, sensors and Arduino UNO used to
achieve the required results.
3.1.2 SYSTEM DESIGN
The design and development process Conceptual design of the project regarding its
hardware, sensors, software etc. this involves -
➢ Hardware Design - Conceptual design of Hardware components like Chassis, and main
mechanism of vacuum cleaner Integrated Circuits, Power system along with their
specifications like weight, dimensions, cost, and performance is evaluated and
considered before fabricating the robot.

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➢ Sensors and Control System Design - The sensors is selected in such a way that it will
be reliable and cost effective and can be used to detect obstacles (Ultrasonic sensor, IR
sensor) and microcontroller is selected in such a way that it will help in achieving both
the Manual operation autonomous operations.
3.1.3 FABRICATION
For fabricating the Solar-powered floor cleaner we adopted, agile methodology to ensure its
flexibility and iterative process (Breaks down the fabricating process into different stages).
With the help of agile approach of methodology, the fabricating process is broken down into
➢ Product Backlog Creation - This helps in identifying the key components and task for
building this solar-powered floor cleaning robot.
➢ Sprint planning - Break down the task into Sprints (each Sprint focusing on specific parts
like chassis assembly, sensor integration, etc.)
➢ Sprint Execution - This shows the execution of tasks in each sprint.
➢ Sprint Review - Evaluate after each sprint and gather feedback.
➢ Next Sprint - Move to next features or components.
➢ Each sprint is followed by testing and refinement based on feedback and performance
evaluation.

Fig 3.1: Agile Methodology

3.1.4 TESTING AND EVALUATION

This involves the testing the completed assembled robot and evaluating its performance
based on the efficiency of cleaning, battery usage and reliability. This involves overall
evaluations on feedback improvement which need to be focused and come to the conclusion
the project and discussion on future scopes which will be carried out in future.

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3.1.5 RESULTS AND DISCUSSIONS

The results chapter or section simply and objectively reports what we found, without
speculating on why you found these results. The discussion interprets the meaning of the
results, puts them in context, and explains why they matter.
3.2 COMPONENTS USED
3.2.1 HARDWARE
Arduino UNO-Arduino UNO is a low-cost, flexible, and easy-to-use programmable open-
source microcontroller board that can be integrated into a variety of electronic projects. This
board can be interfaced with other Arduino boards, Arduino shields, and Raspberry Pi boards
and can control relays, LEDs, servos, and motors as an output. The microcontroller board is
equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to
various expansion boards (shields) and other circuits. The board has 14 digital I/O pins (six
capable of PWM output), 6 analog I/O pins, and is programmable with the Arduino
IDE (Integrated Development Environment), via a type B USB cable.
Specification
➢ Microcontroller - ATmega328P, Operating Voltage - 5V
➢ Input Voltage (Recommended) - 7-12V
➢ Input Voltage (Limits) - 6-20V
➢ Digital I/O Pins - 14 (of which 6 provide PWM output)
➢ Analog Input Pins- 6
➢ DC current per I/O Pin - 20 mA
➢ DC current for 3.3V Pin - 50 mA
➢ Flash Memory - 32 KB (0.5 KB used by the boot loader)
➢ SRAM - 2 KB
➢ EEPROM - 1 KB
➢ Clock Speed - 16 MHz
➢ LED Built-In - 13
➢ Communication Interfaces - UART (Serial), I2C, SPI.
➢ USB Connection - Type B USB
➢ Power Pins - SVIN, 3.3V, 5V, GND
➢ Reset - On-board reset button
➢ Dimensions - Length of 68.6 mm and width of 53.4mm
➢ Weight Approximately 25 g

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Fig 3.2: Arduino UNO

Ultrasonic Sensor - An electronic instrument that uses ultrasonic sound waves (through air)
to measure the distance of the target object and the reflected sound is converted into electrical
signal.
Ultrasonic sensors operate by emitting a sound wave with a frequency higher than that of
human hearing. The sensor's transducer functions as a microphone to receive and transmit
ultrasonic sound. Like many others, our ultrasonic sensors employ a single transducer to
emit a pulse and receive the echo.
Specifications
➢ Model - HC-SR04 (most common ultrasonic sensor)
➢ Operating Voltage - 5V DC (Typically powered by 5V pin of microcontroller)
➢ Operating Current - 15 mA (standby), up to 50 mA (during measurement)
➢ Measurement Range - 2 cm to 400 cm (0.8 inches to 13 feet)
➢ Measurement Accuracy - ± 3mm (Depending on distance)
➢ Frequency - 40 kHz (Ultrasonic waves emitted at this frequency)
➢ Detection Angle - 15° (Horizontal angle for the sensor's detection range)
➢ Response Time - 60 m/s (For distance calculation)
➢ Pulse Duration - Typically 10 µs (Trigger pulse)
➢ Trigger Pin - The sensor is triggered by a high pulse on the Trigger pin The duration of
this pulse determines how far the sensor detects
➢ Echo Pin - The Echo pin provides a high pulse whose width is proportional to the distance
measured.
➢ Output - The Echo pin sends a pulse with a duration that corresponds to the time it takes
for the ultrasonic sound to travel to the object and return.
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➢ Dimensions - 45 mm x 20 mm x 15 mm (L x W x H)
➢ Weight - About 10-15 g

Fig3.3: Ultrasonic Sensor

Infrared (IR) Sensor - An infrared sensor is a device that detects infrared radiation in its
environment and outputs an electric signal. This sensor can detect movement as well as to
measure the heat of an object. This sensor can detect infrared radiation, which is invisible to
our eyes. It has wave length of 720nm
Infrared (IR) Sensors are used to detect and measure the presence of object within a given
area. These sensors are used in Industrial robots and home security systems.
Specifications
➢ Operating Voltage - Typically 3.3V to 5V DC (some variations may support up to 12V)
➢ Current Consumption - Emitter- Typically 20-50 mA
➢ Receiver - Typically 5-15 mA
➢ Output - Digital Output (High or Low based on detection of the infrared signal)
➢ Detection Range -Varies depending on the sensor; for the TCRT5000, it can be up to 15-
25 mm for object detection.
➢ Detection Angle - Typically around 30°-60°, depending on the sensor.
➢ Wavelength of Infrared Light - Typically around 950 nm (Near Infrared light)
➢ Response Time -10-50 m/s (depending on the model)
➢ Power Consumption - Relatively low power consumption, generally between 10-50 mA.
➢ Output Signal Type - Digital output (high/low) indicating whether the sensor has
detected infrared light.

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.
Fig 3.4: Infrared (IR) Sensor
BO Gear motor - This BO (Battery Operated) Motor is lightweight DC geared motor which
gives good torque and rpm at lower voltages. This motor can run at approximately 100 rpm
when driven by a single Li-Ion cell. Great for battery operated lightweight robots.
Specifications
➢ Motor Type Brushed DC Motor (BO gear motors typically use brushed DC motors,
where brushes are used to maintain electrical contact with the rotor).
➢ Operating Voltage - 6V, 12V, 24V (depending on the model and application). Common
voltage ratings- 6V, 12V are most common in small applications, such as robotics and
automation.
➢ No-Load Speed (RPM) - Varies with voltage For example, for a 12V motor, no-load
speed could range from 100 RPM to 300 RPM or more, depending on the gear ratio
➢ No-Load Current - Typically around 50 mA to 200 mA depending on the voltage and
model.
➢ Rated Torque - Torque range typically around 0.1 N·m to 0.5 N·m (for small BO gear
motors used in robotics and automation).
➢ Gear Ratio - Common gear ratios- 5-1, 10-1, 20-1, 50-1, 100-1 (higher ratios provide
lower speed but more torque).
➢ Rated Current - Typically in the range of 200 mA to 1 A, depending on the load and
voltage of the motor.
➢ Efficiency - 60% to 80% (depending on the load, voltage, and design of the motor).
➢ Dimensions - Diameter of 20mm to 50mm and Length vary between 40 to 100mm.

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Fig 3.5: BO Gear Motor

Motor Driver - The L298N is a dual H-Bridge motor driver which allows speed and
direction control of two DC motors at the same time. The module can drive DC motors that
have voltages between 5 and 35V, with a peak current up to 2A. Motor drivers are used to
regulate a motor's speed, direction, and sometimes other parameters that ensure reliable and
efficient operation.
Specification
➢ Voltage Range - Operating voltage the driver can handle (e.g., 5V-12V, 12V-48V).
➢ Current Rating - Continuous and peak current the driver can supply to the motor (e.g.,
1A-40A).
➢ Motor Type Supported - Types of motors the driver can control (e.g., DC, Stepper, and
BLDC).
➢ Control Input - Logic level required for control (e.g., 0-5V PWM).
➢ Protection Features - Overcurrent, overvoltage, and thermal protection.

Fig 3.6: Motor Driver

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Gear motor - A gear motor is an all-in-one combination of a motor and gearbox. The
addition of a gearbox to a motor reduces the speed while increasing the torque output. The
most important parameters in regard to gear motors are speed (rpm), torque and efficiency.
In order to select the most suitable assembly for your application, you must first compute
the load, speed and torque requirements for your application.
Specifications
➢ Voltage Range - Typical operating voltage (e.g., 6V, 12V, 24V).
➢ No-Load Speed (RPM) - Speed without load, determined by the gear ratio (e.g., 10 RPM
to 300 RPM).
➢ Torque - Output torque depending on gear reduction (e.g., 0.1 N·m to 5 N·m).
➢ Gear Ratio - Determines speed reduction and torque multiplication (e.g., 10-1, 50-1, 100-
1).
➢ Shaft Type - Round or D-shaft for connecting to mechanical components.

Fig 3.7: Gear Motor

Lithium-Ion Battery - A lithium-ion or Li-ion battery is a type of rechargeable battery that
uses the reversible intercalation of Li+ into electronically conducting solids to store energy.
In comparison with other commercial rechargeable batteries, Li-ion batteries are
characterized by higher specific energy, higher energy density, higher energy efficiency, a
longer cycle life, and a longer calendar life.
Specifications
➢ Charging Voltage - 12.6V
➢ Charging Current - 2.5A
➢ Nominal Pack Voltage - 11.1V
➢ Discharge Current - Tested for 3A, 5A, 8A, 10A
➢ Max Discharge Current - 15A

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Fig 3.8: Li-ion Battery

Solar panel- Solar panels are those devices which are used to absorb the sun's rays and
convert them into electricity.
Specifications
➢ Voltage - 2X6 volts
➢ Ampere - 100 mAh
➢ 3Watt - 5watt

Fig 3.9: Solar panel

Acrylic sheet for chassis - Acrylic sheets can be used to make robot chassis because they
are strong, lightweight, and easy to work with. Here are some benefits of using acrylic sheets
for robot chassis.
Specifications
➢ Appearance - Acrylic sheets look great and can give a high-tech look to your robot.
➢ Transparency - Clear acrylic sheets allow you to see inside your robot to check on the
electronics.
➢ Strength - Thick acrylic sheets can support a lot of weight.
➢ Water resistance - Acrylic is waterproof and can handle the elements well.
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➢ Ease of use- Acrylic is easy to cut and drill.

Fig 3.10: Acrylic Sheet

Bluetooth Module HC-05 - A Bluetooth module is a small electronic device that enables
wireless communication between devices over short distances.
➢ Specifications
➢ Bluetooth Version - V2.0 + EDR.
➢ Voltage - 3.6V–6V.
➢ Range - Up to 10 meters.
➢ Communication - UART, default baud rate 9600 bps.
➢ Modes - Master/Slave.

Fig 3.11: HC-05 Bluetooth Module

DC to DC Buck converter- DC-to-DC converters are devices that temporarily store

electrical energy for the purpose of converting direct current (DC) from one voltage level to
another. The buck converter is a very simple type of DC-DC converter that produces an
output voltage that is less than its input. The buck converter is so named because the inductor
always “bucks” or acts against the input voltage. The buck converter uses a transistor as a
switch that alternately connects and disconnects the input voltage to an inductor.
Specifications
➢ Input Voltage Range - The voltage it can step down from (e.g., 4.5V to 40V).
➢ Output Voltage Range - The adjustable output voltage (e.g., 1.25V to 36V).
➢ Output Current - Maximum load current it can supply (e.g., 2A, 5A). Efficiency-
Conversion efficiency (e.g., up to 95%).

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➢ Switching Frequency - Operating frequency of the internal switch (e.g., 150 kHz).

Fig 3.12: DC to DC Buck Converter

Cleaning Components
➢ Vacuum Cleaner - Vacuum Cleaners are apparatus that remove and clean many kinds of
surfaces by means of sucking and removing dust and small particles, and it is powered
by electricity. The removed dust particles and materials are deposited into a dust bag or
cyclone inside the cleaner.
➢ 3- Facing Brushes - Vacuum Cleaners are apparatus that remove and clean many kinds
of surfaces by means of sucking and removing dust and small particles, and it is
powered by electricity. The removed dust particles and materials are deposited into a
dust bag or cyclone inside the cleaner.
➢ Roller Brush - A cylindrical roller brush is a cylindrical tool equipped with bristles
mounted around its surface, used for cleaning, polishing, or material handling in
industrial and commercial applications. The bristles, made of materials like nylon,
polypropylene, or metal, are designed to rotate for efficient and uniform action across
surfaces.

Fig 3.13: Cleaning Components

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3.2.2- SOFTWARE USED

Arduino IDE - The Arduino Integrated Development Environment (IDE) is an open-source
software that allows users to- Write code for Arduino boards, Upload programs to Arduino
boards, and communicate with Arduino boards
Specifications
➢ Supports - Windows, macOS, Linux.
➢ Languages - C and C++ with Arduino libraries.
➢ Features - Code editor, Serial Monitor, Board Manager, Library Manager.
➢ Compatibility - Works with Arduino and third-party compatible boards.
➢ Open Source - Free and community-supported.

Fig 3.14: Arduino IDE Software

Fritzing Software - A circuit diagram (or wiring diagram, electrical diagram, elementary
diagram, and electronic schematic) is a graphical representation of an electrical circuit.
A pictorial circuit diagram uses simple images of components, while a schematic
diagram shows the components and interconnections of the circuit using standardized
symbolic representations. The presentation of the interconnections between circuits
components in the schematic diagram does not necessarily correspond to the physical
arrangements in the finished device. The circuit was designed using Fritzing Software.
Fritzing is an open-source hardware initiative that makes electronics accessible as a creative
material for anyone. We offer a software tool, a community website and services in the spirit
of Processing and Arduino, fostering a creative ecosystem that allows users
to document their prototypes, share them with others, teach electronics in a classroom, and
layout and manufacture professional PCBs.

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Specification-
➢ Supports - Windows, macOS, Linux.
➢ Main Features - Schematic capture, PCB design, breadboard view.
➢ Export Options - Gerber files, images, PDFs.
➢ User-Friendly - Drag-and-drop interface for beginners.

Fig 3.15: Fritzing Software

Catia 3-D Modelling Software - Computer Aided Three-dimensional Interactive

Application (CATIA) is a computer-aided design software developed by Dassault Systems.
It is primarily used to design, simulate and analyze complex engineering systems, such as
aircraft, ships, cars, industrial machinery, and consumer goods. Catia 3-D modelling
software was helpful in designing 3-d model of the software.
Specifications-
➢ Supported Operating Systems - Windows, UNIX, and Linux.
➢ Primary Features - 3D CAD modelling, product design, simulation, and analysis.
➢ Modules - Includes Part Design, Assembly Design, Sheet Metal, and Generative Shape
Design.
➢ File Formats - Supports CAT Part, CAT Product, STEP, IGES, and more.
➢ Industry Use - Automotive, aerospace, industrial machinery, and consumer goods.

Fig 3.16: Catia Software

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3.3 BLOCK DIAGRAM OF WORKING MODEL

The above Block Diagram shows the working of solar powered floor cleaning Robot. If the
robot is turned on all the sensors Ultrasonic sensor, Infrared (IR) sensor and Bluetooth
module gets initialized and starts receiving the input from the environment or the user. In
automatic mode the sensors Ultrasonic sensor detect the obstacles in front and Infrared (IR)
sensor detects the floor if the conditions satisfies like there is no obstacles ahead and
presence of floor being detected by Infrared (IR) sensor the robot moves forward by cleaning
the floor. If any obstacles found in the path the Robot changes its direction. If no floor is
detected below like the top of stairs it does not satisfies the condition and moves back. This
works on a loop. In Manual mode the Bluetooth module activates and allow user to control
the direction of the robot if the user gives command like Forward, Backward, Left and Right
using a smartphone the condition is satisfied and robot executes the task.

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3.4 3-D Model

Fig 3.17: (a) Solid model (Top View) Fig 3.17: (b) Solid model (Front View)

Fig 3.17: (c) Solid model (Bottom View)

The Solid model was made designed using Catia modelling software to provide the 3-D
which will help for fabricating the robot with its vital base chassis. The dimensions of the
robot is 30 cm length, 30cm width and 5cm height which is a compact design for a floor
cleaning robot.
3.5 CIRCUIT DIAGRAM

Fig 3.18: Circuit diagram

The Fritzing software was used to design the circuit for electrical and electronic connections.
The above image gives the clear connections of the circuit. It shows the Ultrasonic sensor,
Infrared (IR) sensor, Bluetooth module, motors, PWM module, motor drive, are connected

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to the Arduino UNO and the system is powered by battery which is charged by hybrid mode
with both DC charger and solar energy by solar panel it comprises of DC-to-DC buck
converter which optimizes the power supply to the system.
3.6 FABRICATION
The solar powered floor robot was fabricated using agile methodology, where the features
of the robots were added one by one.
Sprint planning- First the plan was made regarding the Chassis Dimensions, Features and
components used to achieve the required output by the robot.
Sprint execution
➢ Sprint 1- First the Chassis was designed using the Catia software with the required
dimensions and Machined using CNC laser cutting machine for obtaining a precise
dimension.

➢ Fig 3.19: Chassis

Other parts like motors for wheels and for brushes, Brushes, vacuum is installed to the
chassis and wheels are attached, along with the Motor driver, PWM speed controller
module, power units like battery, charging units like solar panel, Charge controller
everything is connected to arduino UNO which Executes the instructed tasks. The entire
system has been mounted to the chassis.
Sprint 1 Review- After the installation and coding of vital components like arduino,
motors, and other electronic components which supports charging and motor control
everything is tested like whether the motors of wheels, brushes and vacuum works
properly on the given voltage.

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➢ Sprint 2- The Ultrasonic sensors was installed to the robot as the initial feature to operate
the robot autonomously by avoiding the obstacles while it’s moving and preventing it
from colliding. The ultrasonic sensor was coded with set of program to perform
instructed task I.e., Obstacle avoidance to prevent the robot from collision with other
objects.
Sprint 2 Review- After the coding is completed the robot is tested and evaluated based
on whether the ultrasonic sensors are working in order to avoid the obstacles.
➢ Sprint 3- The Infrared (IR) Sensors was installed and programmed to the robot which
helps the robots to monitor the surface to avoid fall from stairs and floor ending.
Sprint 3 Review- The IR sensor is tested and evaluated to ensure the robot doesn’t fall
when it is working near the stairs.
➢ Sprint 4- Bluetooth module was installed in the robot and coded which helps to connect
and operate using smartphones.
Sprint 4 Review- After the installation of Bluetooth module the robot is tested with the
Bluetooth devices control apps which is readily available on Google play store and
ensure its working when it’s controlled by Bluetooth app using smartphones.
By using agile methodology, the robot was fabricated with minimizing the error by
rectifying the error during the execution of each sprint and reviewing the each individual
sprint before going to other sprint to install other features. This methodology is effective
in minimizing error and cost effective by reducing the cost of rework.
3.7 CODES AND PROGRAMS
The codes/programs are the instructions fed to the robots which is executed by the robot with
the help of arduino that is instruction is given in the form of codes and programs which is
executed by the arduino. The codes are written in C++ programing language which is simple,
case sensitive programing language and preferred to the Arduino IDE software.
Code
// Defining the pins
const int trigPin1 = 3;
const int echoPin1 = 5;
const int trigPin2 = 6;
const int echoPin2 = 9;
const int trigPin3 = 10;
const int echoPin3 = 11;

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int irpin = 2;

// Defining variables
long duration1, duration2, duration3;
int distanceLeft, distanceFront, distanceRight;
bool bluetoothMode = false;
unsigned long lastBluetoothCommandTime = 0; // To track the last command time

void setup() {
Serial.begin(9600); // Initialize Serial for Bluetooth communication and debugging
pinMode(trigPin1, OUTPUT);
pinMode(trigPin2, OUTPUT);
pinMode(trigPin3, OUTPUT);
pinMode(echoPin1, INPUT);
pinMode(echoPin2, INPUT);
pinMode(echoPin3, INPUT);
pinMode(irpin, INPUT);
pinMode(4, OUTPUT); // Motor pins
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(12, OUTPUT);
}

void loop() {
// Check for Bluetooth commands
if (Serial.available()) {
char command = Serial.read();
bluetoothMode = true; // Enter Bluetooth control mode
lastBluetoothCommandTime = millis(); // Record last command time

// Handle Bluetooth commands

switch (command) {
case 'F': // Move forward
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moveForward();
Serial.println("Moving Forward");
break;
case 'B'- // Move backward
moveBackward();
Serial.println("Moving Backward");
break;
case 'L': // Turn left
turnLeft();
Serial.println("Turning Left");
break;
case 'R': // Turn right
turnRight();
Serial.println("Turning Right");
break;
case 'S': // Stop
stopMovement();
Serial.println("Stopped");
break;
}
}

// If no Bluetooth command has been received for 5 seconds, switch back to autonomous
mode
if (bluetoothMode && millis() - lastBluetoothCommandTime > 5000) {
bluetoothMode = false;
}

// If not in Bluetooth mode, execute autonomous mode

if (!bluetoothMode) {
autonomousMode();
}
}
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// Autonomous mode function

void autonomousMode() {
distanceLeft = getDistance(trigPin1, echoPin1);
distanceFront = getDistance(trigPin2, echoPin2);
distanceRight = getDistance(trigPin3, echoPin3);

int s = digitalRead(irpin);
if (s == HIGH) {
moveBackward();
delay(1000);
}

// Obstacle avoidance logic

if ((distanceLeft <= 20 && distanceFront > 20 && distanceRight <= 20) || (distanceLeft >
20 && distanceFront > 20 && distanceRight > 20)) {
moveForward();
} else if ((distanceLeft <= 20 && distanceFront <= 20 && distanceRight > 20)) {
turnRight();
delay(100);
} else if ((distanceLeft > 20 && distanceFront <= 20 && distanceRight <= 20) ||
(distanceLeft > 20 && distanceFront > 20 && distanceRight <= 20) || (distanceLeft > 20
&& distanceFront <= 20 && distanceRight > 20)) {
turnLeft();
}
}

// Helper function to calculate distance from ultrasonic sensors

int getDistance(int trigPin, int echoPin) {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
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digitalWrite(trigPin, LOW);
long duration = pulseIn(echoPin, HIGH);
return duration * 0.034 / 2; // Convert to cm
}

// Movement functions
void moveForward() {
digitalWrite(4, HIGH);
digitalWrite(7, LOW);
digitalWrite(8, HIGH);
digitalWrite(12, LOW);
}

void moveBackward() {
digitalWrite(4, LOW);
digitalWrite(7, HIGH);
digitalWrite(8, LOW);
digitalWrite(12, HIGH);
}

void turnLeft() {
digitalWrite(4, LOW);
digitalWrite(7, HIGH);
digitalWrite(8, HIGH);
digitalWrite(12, LOW);
}

void turnRight() {
digitalWrite(4, HIGH);
digitalWrite(7, LOW);
digitalWrite(8, LOW);
digitalWrite(12, HIGH);
}
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void stopMovement() {
digitalWrite(4, LOW);
digitalWrite(7, LOW);
digitalWrite(8, LOW);
digitalWrite(12, LOW);
}
3.8 PHOTOGRAPHY DURING FABRICATION

Fig 3.20 : (a) Installation of solar panel Fig 3.20: (b) Installation of IR Sensor

Fig3.20: (c) Installation of DC-DC buck converter

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3.9 TESTING AND EVALUATION

After installation of all sensors and components the completed robot is tested to check and
ensure that all components and Features are working as expected.
The robot is tested in various floor conditions like, tiles, Mosaic, Concert and wooden
surface which are the surfaces that’s often used it involves calibrating the sensors to reduce
the Glitches and improve the working when any fault is identified.

Fig 3.21: (a) Robot on Tiles Surface Fig 3.21: (b) Robot on Tiles Surface

Fig 3.21 (c): Robot on Tiles Surface Fig 3.22: Robot on mosaic Surface

Fig 3.23: Robot on concrete Surface

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CHAPTER 4
RESULTS AND DISCUSSIONS
4.1 RESULTS
➢ Operation durations - The robot operated continuously for approximately 45 minutes
without any major malfunctions or interruptions, demonstrating good endurance and
battery management.
➢ Movement speed - The robot covered 30 feet (9.144 meters) in 2minutes 27 seconds
(147 seconds). This implies that the robot moved at the speed of approximately 12.2 feet
per minute or 0.2 feet per seconds (0.06096 m/s). This indicates the efficiency of its
movement mechanism for designated task.
𝐷𝑖𝑠𝑡𝑎𝑛𝑐 (𝑚𝑒𝑡𝑒𝑟𝑠)
Speed= 𝑇𝑖𝑚𝑒 (𝑆𝑒𝑐𝑜𝑛𝑑𝑠)

9.144
Speed= 147

Speed= 0.0622m/s

➢ Obstacle Detection - The ultrasonic sensor successfully detected obstacles within a

distance of 20 cm. When the robot’s front came within 20 cm of any object, the sensor
triggered an obstacle avoidance mechanism. This threshold ensures that the robot can
react promptly to avoid collisions while operating.
➢ Task Execution - The robot was able to cover the intended area within its operation
time, while simultaneously navigating around obstacles detected by the ultrasonic

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sensor. The system’s responsiveness to obstacles helped ensure smooth navigation

without any crashes.
➢ Cleaning Task - The robot effectively cleaning various floor surface like Tiles,
Concerts, Mosaic, and tiles with different Smoothness.
➢ Bluetooth mode - The robot performs well in Bluetooth mode and it is controlled by the
app which are available in Google Play store. The normal range of Bluetooth is 10 meters

4.2 DISCUSSIONS
➢ Movement Analysis - The robot's speed of 0.2 feet per second seems appropriate for a
cleaning robot, as it allows enough time to clean effectively while maintaining energy
efficiency. The distance covered (30 feet) within 2 minutes 27 seconds suggests that the
robot's movement is optimized for short-distance tasks, ensuring thorough cleaning.
➢ Sensor Performance - The ultrasonic sensor’s effective detection range of 20 cm is a
key component in preventing collisions. This range appears to be well-suited for an
autonomous robot that needs to avoid both small and large obstacles in its path. The
sensor’s accuracy in detecting obstacles at this distance was critical in the robot’s ability
to maneuver around without stopping or crashing.
➢ Battery and Endurance - The robot's ability to operate for 45 minutes suggests that the
battery life is sufficient for typical tasks, possibly covering a small to medium-sized area.
Future improvements could focus on extending the battery life or optimizing power
consumption during operation.

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➢ Limitations and Improvements -Speed- Although the robot’s speed is adequate, there
could be room for optimization, especially for larger areas. Increasing the speed slightly
without sacrificing cleaning effectiveness could reduce operation time.
➢ Size of Debris - Since the vacuum cleaner is smaller in Dimensions it can collect the
dust particles, small bits of papers and plastic but currently not suitable for larger Debris.
➢ Limited Range using Bluetooth - Since the Bluetooth can cover up to only 10-meter
Radius the Robot can be controlled within 10 m Radius range.
➢ Charging via Solar - Since the two 6V solar panel is connected in series to fulfill the
power demand of 12 V but the time taken will long enough to charge the Battery.

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CHAPTER 5
CONCLUSION AND FUTURE SCOPE
5.1 CONCLUSION
As seen in the results and discussions the robot performs the tasks by both autonomously as
well as controlled manually by Bluetooth using a smart phone in different surface like tiles,
granite, mosaic, concrete. The Robot will help to clean the large areas which requires
frequent cleanings to ensure that the places are free from dusts and debris which are
accumulated due to frequent use of the places or floor by the people like Schools and colleges
corridors and class rooms, Metro stations, Offices etc., where the frequent cleaning is
necessary.

Fig 5.1: Solar-Powered Floor cleaning Robot

Fig 5.1.1: Testing of Solar-Powered Floor cleaning Robot

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5.2 FUTURE SCOPE

➢ To use IoT using GSM Module so that the robot can be operated from any place in the
world.
➢ To incorporate Cloud tools to monitor the cleaning status, Debris status and Charge level
and operation timing using Cloud data where all the details will be stored in Cloud.
➢ To increase the Vacuum performance by increasing the size the vacuum cleaner to
Collect Debris in large size and quantity.
➢ To increase the Size of Solar panel to ensure fast charging.

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REFERENCES
[1] Roy, P., Shaikh, T., Bibi Sahara, P., & Ghuge, K. V. Solar Floor Cleaner Robot.
[2] ASHOK, D., PAVITHRA, M., PERIYANAYAKI, T., & MIDHUNA, C. (2023).
REVOLUTIONIZING FLOOR CLEANING - DESIGN AND DEVELOPMENT OF A
SMART SOLAR-POWERED FLOOR CLEANING MACHINE.
[3] Panwar, Vikas Singh, Anish Pandey, and Md Ehtesham Hasan. "Design and fabrication
of a novel concept-based autonomous controlled solar powered four-wheeled Floor
Cleaning Robot for wet and dry surfaces." International Journal of Information
Technology 14, no. 4 (2022): 1995-2004.
[4] Panwar, V. S., Pandey, A., & Hasan, M. E. (2022). Design and fabrication of a novel
concept-based autonomous controlled solar powered four-wheeled Floor Cleaning Robot
for wet and dry surfaces. International Journal of Information Technology, 14(4), 1995-
2004.
[5] MUSALLAMI, SABRINA ADNAN RASHID. "A Smart Solar Powered Vacuum
Cleaner - Solar Powered Vacuum Cleaner." Journal of Student Research (2021).
[6] https-//ieeexplore.ieee.org
[7] https-//www.jetir.org
[8] https-//ijrpr.com
[9] https-//warse.org
[10] https-//ijcrt.org
[11] https-//www.arduino.cc
[12] https-//fritzing.org/learning
[13] https-//en.wikipedia.org/wiki/Floor_scrubber

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