IRJET- Robotic Automated Floor Cleaner

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 03 | Mar 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 4715
Robotic Automated Floor Cleaner
Nabamita Ramkrishna Das1, Rashmi Daga2, Sneha Avte3, Prof. Kavita Mhatre4
1, 2, 3 B. Tech Student, Department of Electronics and Communication Engineering,
Usha Mittal Institute of Technology, SNDT University, Santacruz.
Mumbai, Maharashtra, India
4 Associate Professor, Department of Electronics and Communication Engineering,
Usha Mittal Institute of Technology, SNDT University, Santacruz.
Mumbai, Maharashtra, India
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Abstract - Good sanitization and cleaning leads to proper
health of human beings, which directly affects our homes and
our surroundings. In recent years, cleanliness has become an
important factor for the betterment of one’s personal health,
thus to support the cause we haveconductedastudy, prepared
a design and working model of a Robotic Automated Floor
Cleaner, in an attempt to deliver easy and time efficient
cleaning of any indoor space, by reducing human efforts. The
manually operated units are very laborious and time
consuming and as every coin has two sides the fuel operated
machines are very costly, affecting the environment. So, we
have thought of an alternative which can be used tonullifythe
former limitations. Dust poses a major risk to the human
health in any household, hospital, hotel rooms, dormitories,
schools and colleges, etc. Automated machine cleaners are
pivotal in the modern era for modern living due to its elective
lowering of the labor cost of a human being, saving both time
and money. Most of these cleaners are designed purposely to
satisfy the special need of the consumers. The project is a
collaboration of Mechanical, ElectricalandElectronicstreams
and employs devices and systems of these fields. It is an
assembly of various rigid components like chassis, some
motors and various electromechanical devices. Our motive is
to present a working model of a cleaning machine which will
be used in a household with minimum utilization of the
resources available with us.
Key Words: Motors, Arduino, Bluetooth, Ultrasonic
sensors, Robotic, Floor cleaners, Automated Cleaners
1. INTRODUCTION
Cleanliness plays a vital role in daily life. It is the
process of keeping our surroundingdust-free,diseases
free for social and intellectual health. Several cleaning
solution are available in recent years to keep your
house free of dust. MACHINE-CONTROLLED FLOOR
cleaners were introduced for the sake of the
betterment of mankind. The Vacuum cleaner is one of
the best and valuable tools which in turn help
homeowner to keep their floors clean. These available
vacuum cleaners have their respective pros and cons.
Dusting and sweeping is a household chore that has to
be repeated everyday to maintain cleanliness of one's
household. In recent years cleanliness has become an
important factor for betterment of one's personal
health and so to support we have proposed a robotic
Automated floor cleaner. Basically as a robot it
eliminateshumanerrorsandprovidescleaningactivity
more efficiently. This Robotic machine is based on
simple obstacle avoidance usingUltrasonicsensors.By
utilizing local resources reducing power consumption
we are making it cost effective. Here we are using
image processing technique to achieve a desired
motion and to avoid obstacle. To make it simpler we
made this device as Wireless Bluetooth enableddevice
which operates at 2.4GHz ISM band for short range
wireless communication. For a reliable mobility of this
device we introduced a motor Driver IC which is used
to control motors in Autonomous Robots. It acts as an
interface between Arduino and motors for hardware
projects. Arduino is greatwhereyouwantthethingsto
respond via manual input and varioussensorreadings.
In case where the owner loses a remote to operate the
machine, wireless Bluetooth Application is connected
to the Android Application to operate it manually.
1.1 Problem Statement
To maintain Cleanliness daily household chores like
Dusting and Sweeping has to be repeated every day.
But this physical activity of cleaning can be harmful at
times. To counter such problems there are several
machines which are designed for ease to humans,
breaking down the complex tedious task into simpler
one. But these vacuum cleanersarecomplex,bulkyand
heavy making it tedious to move and clean. Vacuum
cleaners available in market consume hundreds to
thousand watts of electricity which in turn increases
the electricity bill. The operating electric motor
becomes too hot and burnout the vacuum cleaner

motor. While in physical activity of dusting certain
particles which when inhaled cause problems in
respiratorysystem of that person which in turn leadto
more health issues. Several machines available in
market employ specific mechanical and electrical
systems to ensure a clean household. Some vacuum
cleaners don’t offer a reusable dustbin bags. These
machines make life and cleaning task more difficult
because one has to be physicallypresentformobilityof
machine. To reduce such efforts for cleaning our
project aims to create a device that is low cost,utilizing
local resources to design which serves the purpose of
sweeping and dusting from a place which is far away
from dusty environment, using DC motors, Android
Application, Bluetooth, Ultrasonic sensors and remote
controlled device instead of manual labor.
1.2 Literature Review
A.] Journal Automation and controlling of Automated
floor cleaners [4]
Traditionally floor is cleaned with the help of dry mop
or wet mop using the hand as a potential tool. They
have to scrub hard on the surface. This includes
cleaning of various surfaces basically cement floors,
highly polished wooden or marble floors.Amongthese
floors the rough surface floor such as cement floor,
mostly present in semiurbanareasarecoveredwithso
much dust. The body of the robot has many small
components. Like all robots it has sensors,
microcontrollers and actuatorsandothercomponents.
B.] Author Mun-Cheon Kang, Kwang-Shik Kim, Dong-Ki
Noh, Jong-Woo Han, and Sung-Jea Ko of A Robust
Obstacle Detection MethodforRoboticVacuumCleaners
[1]
Conventional robotic vacuum cleaners (RVCs) with
ultrasonic or infrared (IR)sensorspresentproblemsin
detecting obstacles when they clean the floor in
complex situations, for example, under tablesorchairs
with thinlegs.Arobustobstacledetection(OD)method
based on the triangulationprincipleforRVCsoperating
in various home environments. The proposed method
uses the IR emitterof the RVC to projectahorizontalIR
beam toward the floor, following which the RVC’s
wide-angle vision camera captures an image that
includes the IR line reflectedbythefloororanobstacle.
Obstacles are detected by using the image coordinates
of the pixels that belong to the IR line in the captured
image.
C.] Author Muhammad Faisal Khan, Abdul Basit Zia and
Tahseen Amin Khan of Smart Floor Cleaning Robot
(CLEAR) [2]
Withtheadvancementoftechnology,robotsaregetting
more attention of researchers to make life of mankind
comfortable. This presents the design, development
and fabrication of prototype Smart Floor Cleaning
Robot (CLEAR) using IEEE Standard 1621 (IEEE
Standard for User Interface Elements in PowerControl
of Electronic Devices employed in Office/Consumer
Environments). Subject robot operates inautonomous
mode as well as in manual mode along with additional
features like scheduling for specific time and bag-less
dirt container with auto-dirt disposalmechanism.This
work can be very useful in improving life style of
mankind.
D.] International journal of Design and Development of
Floor Cleaner Robot (Automatic and Manual) by
Manreet Kaur [7]
This is the technology that proposed the working of
robot for Floor cleaning. This floor cleaner robot can
work in any of two modes i.e. “Automatic and Manual”.
All hardware and software operations are controlled
by AT89S52 microcontroller. This robot can perform
sweeping and mopping task. RF modules have been
used for wireless communication between remote
(manual mode) and robot and having range 50m. This
robot is incorporated with IR sensor for obstacle
detection.
E.] Design and Fabrication of Automatic Floor cleaners
by National Institute of Technology Rourkela[6]
Mobile robots are a major focus of current research
and almost every major university has one or more
labs that focus onmobilerobotresearch.Mobilerobots
are also found in industrial, military and security
settings. Domestic robots are consumer products,
including entertainmentrobotsandthosethat perform
certain household tasks such as vacuuming or
gardening. From then on more sophisticated robot is
designed for household equipment for automating the
tasks including washing machine, microwave oven.
After that only the revolution of mobile robotics came
to household usages.
2. CONTRIBUTION
Robotic floor cleaners have been on the market for
some years now, but it's just recently that they have
started to become more extensive. Revolutions and
growth in technology have allowed manufacturers to

modify and add more convenient features, becoming
the key factor for development of fully automated and
highly efficient cleaners. They are basically used in
residential areas and malls for floors. Robotic floor
cleaners usually comprises of programming software,
a mobile base, batteries, cleaning system and other
accessories and qualities designed to offer
propitiousness and effortless use to the end user.
Robotic floor cleaner is still a miniscule part of the
global cleaner markets, but they are growing at a good
pace. Today's busy manner of living has left little or no
time at all for home cleaning chores, also as they
provide fully automated functionalities, now are the
prime motive for thedemandforRoboticfloorcleaners
across the globe, especially in the developedcountries.
3. SYSTEM DESCRIPTION
Fig -1: Block Diagram
This is the block diagram of Robotic Automated Floor
Cleaner. Here we have used 5 motors. The first 3
motors, i.e.12VFront-LeftMotor,12VRollerMotorand
12V Front-Right Motor are high speed motors, where
the Front-Left and the Front -Right motorscompriseof
dummy wheels which does not make any motion but
rather act as a support to the whole Model. They
consist of one brush each for the cleaning, and the
roller motor consists of roller brush for the front-back
movement. The 2 motors at the bottom, i.e. 12V DC
motors are high torque motors which are used to
measure the angular velocity of the mechanical
component. Here the movable wheels are placed for
the movement of the model. The Arduino Uno R3 can't
supply the required power to the DC motor, and so to
prevent the Arduino from burning, L293D Motor
Driver IC is connected to the Arduino. There are 3
Ultrasonic Sensors placed on the frontal, left and right
side of the model for sensing the distance to the target.
Ultrasonic sensors are used for the automatic mode of
the model, as they work using sound waves and so
lighter or darker environment wouldn't cause any
hurdles for the model to work. For the Manual mode,
we've used a Bluetooth which is used to establish a
connection between the user's mobile phone and the
model, so that the user can operate the model
manually. We've used a 12V Lithium Polymer (Lipo)
battery, a rechargeable battery connected to a 5V
regulator which is used to maintain the output voltage
at a constant value.
3.1 Flowchart
A] MANUAL MODE:
Fig -2: Manual Mode
First it checks if it's on manual mode. If yes, then it
checks the keypad. On keypad it checks if any key is
pushed, i.e. Left, Right or Center. If yes, then the data is
displayed accordingly on the LCD screen, i.e. our

Mobile phone which we are using as a remote to
control the robot manually. The data is transmitted to
the bot. Then it checks if any hurdle is detected. If yes
then the signal is displayed and the robot is informed
to stop and it goes back to manual mode. If no hurdle is
detected, the robot checks for the data signal received.
If the data signal is received, then it starts decodingthe
data and is displayed on the LCD. If the data signal is
not received then it goes back and checks for the data
signal transmitted.
B] AUTOMATIC MODE:
Fig -3: Automatic Mode
First it initializes LCD data. Then it checks if it's on
Automatic mode or Manual mode. If it's on Automatic
mode then it moves forward with cleaning. Then it
checks for hurdle. If any hurdleisdetectedthenitstops
immediately and gives alarm. If not then it checks for
wall. If yes then it changes the lane and terminates. If
no then it continues with cleaning.
4. PARAMETERS
Table -1: ULTRASONIC SENSORS
Sr. No Parameters Value
1 Power Supply +5V DC
2 Effectual Angle ¡ 15 degree
3 Ranging
Distance
10cm
4 Measuring Angle 30 degrees
5 Trigger Input
Pulse Width
10s
Table -2: MOTORS
Parameter Front Motors Rear Motors
RPM 1000 250
Stall Torque 1.2kgcm 10kgcm
No- Load
Current
140mA 60mA
Load Current 1A 300mA
Weight 300gm 125gm
Operating
Speed
0.23s 0.1s
5. BOT ALGORITHM
1. First we start the bot.
2. Then we select mode in which we want it to
operate: Automatic Mode or Manual Mode.
3. If Automatic Mode is selected, then it goes to
Auto Mode Subroutine.
4. If Manual Mode is selected then it goes to
Manual Mode Subroutine.
5. This loop will go on until we've switched off
our power supply

I.] Manual Mode Subroutine:
1. Scanning using Bluetooth data.
2. If data = 1, turn left.
3. If the previous Conditionisfalse,checkifdata=
2.
4. If yes, turn right.
3.
6. If yes, turn backward.
4.
8. If yes, move forward.
9. Continue the loop till input is given and
executed.
Fig -4: Manual Mode Subroutine
II.] Automatic Mode Subroutine:
1. Scanning using front, left and right ultrasonic
sensors.
2. Conversion of obtained data/value into
distance i.e. cm.
3. If the distance in the front is less than the
maximum distance, turn left.
4. If the previous Condition is false, check the
distance to the left side of the bot.
5. If the distance to the left is less than the
maximum distance, turn right.
6. If the previous Condition is false, check the
distance to the right side of the bot.
7. If the distance to the right is less than the
maximum distance, turn left.
8. If the previous Condition is false, check if all
the conditions have been satisfied.
9. If yes, start moving backwards.
10. Continue this loop till the Robot gets Power
Supply and till the time the conditions are
being satisfied.
Fig -5: Automatic Mode Subroutine

III.] OUTPUT
After we have done the connections, we copy and
paste the code into Arduino IDE and upload it. Once
uploaded, we will get to see that both the motors
have started rotating.
6. ANDROID APPLICATION
6.1 Introduction
An Android application has been made so that it
becomes easy to operate the Robotic Automated
Floor Cleaner manually by the user. It becomes easy
for the users to operate it via their phone as we have
our phones with us all the time, and thus reduces the
cost of the remote for handling the Cleaner, and the
worry of the remote of it getting lost.
6.2 Operation
Once installed in the Android phone, the user can
operate it easily. Directions for use are shown below:
1. Before connecting, a 'DISCONNECTED' tag will be
seen in RED. This instructs the user to connect the
bot to their Android device via Bluetooth. Without
connecting it, the bot will not make any manual
function as required by the user.
2. After connecting it via Bluetooth, the
'DISCONNECTED' tag in RED will turn to
'CONNECTED' tag in GREEN.
3. Now the user can make the bot move with the
instructions given.
4. If the user wants the bot to move forward, he has
to tap on the 'FORWARD' key on the app and it will
start moving forward
5. If the user wants the bot to move in the left
direction, simply clicking on the 'LEFT' key will do
the work.
6. Similarly if the user requires the bot to move in the
right direction, the 'RIGHT' key has to be clicked.
7. And if the user wants the bot to come backwards
or in reverse direction, clicking on the 'REVERSE'
switch will do the work.
8. Once the job is done, the user can disconnect their
Android device from the Bot by clicking on the 'STOP'
switch. By doing so, the 'CONNECTED' tag in GREEN
will turn to the 'DISCONNECTED' tag in RED.
Fig -6: Android app
5. CONCLUSIONS
As the requirement of advanced less time consuming
automated machines are in high rise the authors
developed this hardware model of smart home
cleaning appliance. Analytical study reveals that the
simulated results satisfactorily match with the real
time hardware operations of the machine. Moreover,
the sophistication is of the fineststateofart.Themodel
is unique as the user does not need any technical
expertise in handling the system. Thus the authors
believe that the designedmodeliscommerciallyviable.
7. Future Scope
Further alterations can be made to theexistingsystem,
like an amalgamation of wet and dry cleaning.
A lot of other systems can replace the Arduino, but in
turn would increase the overall cost of the system.

REFERENCES
[1] Mun-Cheon Kang, Kwang-Shik Kim, Dong-Ki Noh,
Jong-Woo Han, and Sung-Jea Ko, Fellow, IEEE A
Robust Obstacle Detection Method for Robotic
Vacuum Cleaners.
[2] Uman Khalid and Muhammad Faizan Baloch.,
“Design of Smart Floor Cleaning Robot (CLEAR)”.
Faculty of Electronic Engineering, Ghulam Ishaq
Khan Institute of Engineering Sciences and
Technology, Hamdard Institute of Engineering
Technology, Hamdard University, Karachi,
Pakistan.
[3] T. Palleja,M. Tresanchez,M. Teixido,J. Palacin
”Modeling floor-cleaning coverage performances
of some domestic mobile robots in a reduced
scenario”, Robotics and Autonomous
Systems(2010) 58 37- 45.
[4] Journal Automation and controlling of Automated
floor cleaners.
[5] https://makezine.com/2014/07/08/kokopelli-
quickstart-parametric-living-hinge/c/
[6] Manya Jain and Pankaj Singh Rawat, “Design
and fabrication of Automatic Floor Cleaner”,
International Research Journal of Engineering
and Technology (IRJET) Vol. 04, No. 04, pp. 303-
307
[7] Manreet Kaur and Preeti Abrol, “Design and
Development of Floor Cleaner Robot (Automatic
and Manual). International Journal of Computer
Applications (0975 8887) Vol. 97, No. 19, pp. 32 -
38
[8] ElProCus Electronic Projects for Engineering
Students. ”Overview of Arduino Microcontroller
with Working Principle and Design”, [online]
https://www.elprocus.com/arduino-basics-and-
design/. November 09, 2018.
[9] Combining Raspberry Pi and Arduino to form a
low cost, Real time AutonomousVehiclePlatform,
p11-p25

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