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A Review on Design of Automated vertical

wall tile washing system

Akshay V. Sakharkar Sachin T. Bagde
Department of Mechanical Engineering Department of Mechanical Engineering
Yeshwantrao Chavan College of Engineering Yeshwantrao Chavan College of Engineering
Nagpur, India. Nagpur, India.

Wall tile cleaning or washing is a daily routine work in every public service industries like
hotel, hostel, houses, marriage hall etc. So wall tile cleaning is usually a tedious, monotonous,
boaring daily routine work which consume lots of time for maintaining sanitation and hyginic
environment of bathrooms. In todays scenario none of autonomous wall tile washing system
available in market for vertical tile washing, so that everyone uses portable manually
operated tile washing equipment.However there are small number of paper presented their
work in development of climbing robot but it only use for dust cleaning by means of vaccume
equipment & its not so efficient to clean tile perfectly.So there is huge demand for
development of such system which required less time for cleaning. This paper present Design
development and fabrication of vertical wall tile washing system. This work can be usefull in
improving life style of mankind.


Wall cleaning machine, Cleaning equipment, Mechanism.

Household cleaning of tiles is a repititive task carried out by number of people everyday.
Hence there is need of bringing revolution in the field of science and technologies, which could
helps eaisly in repetative task which we perform daily. Also cleaning is tedious and monotonous job
which is consider to be a low skill and low esteem job for which more than 80% of the ccost is
labour related cost. In various public service industries tile cleaning procedure should be irritative
and more compelling because regular cleaning is required henceforth peoples not intrested to spend
lots of time on wall tile washing by manual work. Because of this reason people are attracted
towards electro-mechanical machine where they can do wall tile cleaning in very fast manner.shing

In this work of design a machine system for cleaning tile, floor, wall a automatic and
many more semi-automatic model was design, developed and fabricated also performance
evalution has been done but only for floor tile washing and not for case of wall tiles. In todays
scenario none of the autonomous wall tile system are available to consumer in the market. To
eliminate the same problem in cleaning wall tiles which was arises before inventing autonomous
floor tiles cleaning system, its necessity of time to develop wall tile washing system.

In genral Design of this vertical wall tile washing system compries a stell frame, metal bar
restoring chamber for steam, detergent liquid and clean water. This chamber connected to
removable rod frame on which scrubber mounted. Three flexible pipes with pumps and nozzle from
each compart of chamber where mounted on head of scrubber allow to move along with it. The
mechanism for vertical motion for the scrubber is incorporated by rope and pulley mechanism same
as that in automatic plastering machine. System comprising a microcontroller base system for
performing operation of injection of steam, detergent liquid and water base on operator selection.

Literature review
1) A Technological Survey on Autonomous Home Cleaning Robots by abhishek pandey,
[7]. In this paper describe a servey of different modes of autonomous home cleaning robots. In this
present era, people live a very busy life. People in cities have irregular and long working times. In
such a situation a person will always find ways of saving time. household chores are the ones that
are most dreaded upon. And cleaning a home tops the list. It is not only time consuming, but also
its very tiring. Especially for working women it becomes difficult to handle both home and office
work together. She has to do the household chores in the morning, go to work and do the works
there and return home in the evening to again start her chores at home. Thus she lives a dual life. In
this dual life, autonomous cleaning robot bring relaxation by saving some of her precious time.
Authors made a servey of various model available in market as of first genration Roomba
had three buttons for room size use for floor dust cleaning. Later on the second-generation
Roombas ("400 series") replaced their predecessors and some advancing feature may added to it as
larger dust bin, better software that calculates room sizes, dirt detection and fast charging. After that
third genration 500 series Roomba, then it superseded by 600 series & later on Roombas 700 series
robot were launched with number of imporovement but all this series of home cleaning robot are
used only for clening floor dust only.

2) Building a Mobile Robot for a Floor-Cleaning Operation in Domestic Environments by

Jordi Palacn,[4] This paper describe Domestic robots are one of the new industrial challenges. And
they proposed a specifically designed a floor-cleaning robot for this function. In This paper
attention is focus on actuators, sensors and electronics and their usability. The practical
implementation of a cleaning robot is an interdisciplinary problem but here some aspect to be
focuse toward an implementation usefull for this robot are sensor placement,motor control, robot
control, and safety.
In this paper they proposed design of cleaning robot having 28 x27cm wide, 23 cm brush
width, and 14 cm height, its design is very simple and cheap having only three parts a roller brush, a
dustpan and broomstick. They discuss design of robot and their compatibility betweeen human
being and cleaning robot is analysed with conclusion that robots cleaning operation is isolated from
human being. Their work proposal of cleaning robot is limited upto the floor surface cleaning only.

3) A Survey of Technologies for Climbing Robots Adhesion to Surfaces by Manuel F.

Silva, J. A. Tenreiro Machado, Jozsef K. Tar [5] This paper presented a survey of several crawling,
wheeled and legged climbing robots, adopting different technologies for the adhesion or to made
contact with the wall surfaces. Genrally climbing robots are being developed for the application of
cleaning vertical wall surface or ceiling where difficult to reach.regarding to make a contact with
vertical surface it should able to produce a sufficient gripping force using light weight weight
mechanism so that its limitation is made to use only single application of dust cleaning only.
In this paper authors presented a survey after review of three different technologies used
for robots adhesion to surface. The mostly usable techniques is suction force, so that The vacuum
type principle is light and easy to control is used. More than the one vacuum cup is used in each feet
in order to prevent loss of contact with the surface due to some irregularities or gaps or pore in wall
surface.Vacuume pump on board increase robots weight and ultimately cost also where it fails to
stick on wall. This type of adhesion as some major drawbacks as the system is light weighted so not
use for the application of mopping, washing a wall surfaces, and it doesnt affort enough force for
cleaning a strong and sticky particles on the surfaces.
Another principle adopted for creating the adhesion force is magnetic adhesion. Magnetic
attachment can be highly desirable due to its inherent reliability; furthermore, the method is fast but
it implies the adoption of heavy actuators. And main disadvantages regarding this technique is that
useful only in specific environments where the surface is ferromagnetic and, therefore, for most
applications it is an unsuitable choice thus it fails to make contact on simple wall surfaces.
One more technique used for adhesion is gripping to the surfaces where the robots are
moving. But its very difficults to robots to climb on surface with heaivy duty equipment of
mopping, washing and multifunctional cleaning equipment.

4) Mopping module design and experiments of a multifunction floor cleaning robot by

Yunbo Hong, Rongchuan Sun, Rui Lin, Shumei Yu and Lining Sun [6] In this paper authors firstly
proposed the design of a multifuction cleaner robot together with mobile platform and vacuum
cleaning module. Then they describes the design and working process of mopping robots. Finally
they carried out two experiment to validate the effectiveness of cleaning robot.
The device described in this paper is a kind of intelligent cleaning robot. In general, it is
composed by drive part, sensor part, functional parts and control part, power supply part and
so on. Here the functional part is independent from cleaning robot. So the cleaning robot can
connect several functional modules, which makes a cleaning robot achieve many cleaning
functions. Currently they achieving well performance of the basic cleaning functions, namely
vacuum cleaning and mopping the floor surface only.

Research Gap

From the literatuer servey, it is found that to minimization of labour cost and to avoide a lots of
time consuming in cleaning of floor. Wall tiles there is requirement of bringing revoltion in this
field by achiving automation. Some of literature where made in use of manual equipments which
make monotonous life of cleaner. Various research paper were presented their work in field of tile
cleaning was related to development of floor tiles washing system only, out of which most of
which made the application of only dust cleaning vaccume cups which was fails to clean the very
sticky paricles, this system not play a role of sticking on wall and mopping the surface with
required force at a time. Some literature also show the cleaning system are heivy duty which
doesnt make its use for wall tile cleaning. Also some paper where present various technologies for
climbing robots which are very light duty and uses vaccume for sucking dust but they also fails to
performs against clening strong sticky paricles on wall tiles because it doesnt act maximum force
to clean surface. From literature it found that most of the Heavy duty automatic floor washing
system were eaisly available to consumer which was not use for wall tile washing and some
climbing robots also available which make use of vaccume for dust cleaning only and doesnt
efficient for washing wall tiles. After gone through various literature survey, industrial survey,
market survey research gap we identified the problem as there is no efficient system set up
available in market for consumer to clean the wall tile separately. All this research gap made aware
that only automated floor cleaning system were available & everyone uses manually operated
floor tile cleaning equipment for wall tile cleaning, so that there is huge demand of automatic
wall tile cleaning system in bulk. So there is scope for design, development of automated Wall
Tile Washing System to eliminate tedious job, manual work, to save time and to made less body
contact with cleaning agent.

Objective and Scope

To make consistent wall tile cleaning process by using automated wall tile washing system.
Our aim of this innovative idea is to mopping, scrubbing, stripping, polishing, washing the
vertical wall tiles automatically.
One of the object is to provide an automatic wall tile cleaning machine with improved
efficiency of steam, cleaning agent , water and detergent consumption.
Another object is to provide such a machine having improved operating time and energy
saving characteristics.
This system can be use at domestic level and ensure minimum human interfare to avoid body
contact with cleaning agent.
The author would like to express his sincere thanks to his guide Dr. Sachin T. Bagde for his
valuable references and support throughout the seminar work.

1. R.A. Haslam, H.J. WilliamsErgonomics considerations in the design and use of single disc
floor cleaning machines,1999 Elsveier.
2. Monica Schofield, A practical case study in the development and employment of cleaning
robots, 1999 IEEE.
3. F. Cepolina, R.C. Michelini, R.P. Razzoli, M. Zoppi, Gecko, a climbing robot for walls
cleaning, 2003
4. Jordi Palacn, Member, IEEE, Jos Antonio Salse, Ignasi Valgan, and Xavi Clua,
Building a Mobile Robot for a Floor-Cleaning Operation in Domestic Environments, 2004
5. Manuel F. Silva, J. A. Tenreiro Machado, Jozsef K. Tar, A Survey of Technologies for
Climbing Robots Adhesion to Surfaces, 2008 IEEE
6. Yunbo Hong, Rongchuan Sun, Rui Lin, Shumei Yu and Lining Sun, Module design and
experiments of a multifunction floor cleaning robot,2014 IEEE.
7. Abhishek Pandey ,Anirudh Kaushik, Amit Kumar Jha,Girish Kapse, A Technological Survey on
Autonomous Home Cleaning Robots,2014.