House cleaning Robot

Digital Assignment – I
IoT System Architecture
Course Code : ECE - 3026
Slot : E1

Course Faculty:
Prof. Sujatha .R

Submitted By,
17BIS0007 ROSHNI SINGH
17BIS0026 SHIVAM GAUR

School of Electronics Engineering

VIT University, Vellore
Tamil Nadu - 632014

Fall Semester 2019 – 2020

 RAPID DIRT REMOVER
By, Shivam gaur, Roshni singh
Abstract: In this paper, a new service robot
designed for cleaning tasks in home environments
is introduced. System has three subsystems:
electrical, software and mechanical of which
Arduino, sensors and motor are the electrical and
mechanical subsystems respectively and the
software subsystem is the brain of the robot. The
cleaning robot uses Ultrasonic sensor to detect
obstacles and manipulates its direction as per the
inputs. It is programmed to accept inputs to sense
obstacles around it and control the robot to avoid
any collisions. In case of an obstacle, or a potential
collision, the L293D IC controls the wheels of the
robot by a motor driver to avoid collision. The
detachable mop at the bottom of the robot performs
the cleaning process and sends data to user.
INTRODUCTION
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
iRobots. Many related appliances from various
companies have been followed. 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 this Project work a floor cleaner robot based on
Arduino Uno and leanardo have been developed.
This cleaner robot is an electric home appliance,
which works automatically. It performs mopping
operation. Detachable mop is used for mopping. It
works on 9V supply. In the automatic mode, robot
performs all operations itself. Robot starts it moves
forward and perform cleaning action. For obstacle
detection and to avoid hurdle Ultrasonic sensors
have been used. If any hurdle detected then robot
change the lane automatically, does not stop and
starts cleaning action. To make whole system
wireless, GSM modules have been used in
automatic and manual for greater range. Motor
driver circuit have been used to drive the motors.
Three motors have been used to perform
respected operations like to move the robot, for
water pump, for cleaner. LM293D IC has been
used to drive wheel motor. All the information
displayed on Mobile screen for the user.
BLOCK DIAGRAM
LM298N(Motor
driver)
Node-
MCU Power
Source
Arduino-
UNO
Ultrasonic
Sensor Dc-
Motor(Right)
Dc-
Motor(Left)
LITERARURE SURVEY
Automatic floor cleaner is a system that enables
cleaning of the floor by the help of highly
stabilized and rapidly functionalized electronic
and mechanical control system. Current project
work targets to use automatic floor cleaner for
large floor in house-hold purposes and office
floors. The cleaning purpose is specifically
carried out by continuous relative motion
between a scrubber and the floor surface. During
the cleaning and moving operation of vehicle a
propulsion mechanism such as driven wheels and
guide wheels for the dry tracking on the floor
surface to be cleaned. Preferably, a sweeper
mechanism is mounted on the body forwarded by
propulsion mechanism and operated with such
control system for advance sweeping of floor
surface. The new automatic floor cleaner will
save huge cost of labor in future. The basic
advantage of this product is that it will be cost
effective and no human control is needed. Once
put in on mode it will clean the whole room
without any omission of surface.
This floor cleaner robot can work automatically.
All hardware and software operations are
controlled by Arduino. This robot can perform
sweeping and mopping task. GSM modules have
been used for wireless communication between
user and robot. This robot is incorporated with
Ultrasonic sensor for obstacle detection. Three
motors are used, one for cleaning, and two for
wheels. In the automatic mode robot control all the
operations itself and change the lane in case of
hurdle detection and moves back. GSM module has
been used to transmit and receive the information
between remote and robot and send the information
related to the cleaning on mobile. The whole
circuitry is connected with 9V battery.
WORKING
Automatic mode is guided by algorithms for path
planning of the robot. Path planning is an important
factor because the efficiency of cleaning robot is
very much dependent on it. With every collision
with obstacle the turning direction of the robot
continuously changes under this mode. For this
algorithm, after every collision the robot has a
sequence of movements. Bot connected with 9V
power supply.
HARDWARE USED
Motor Driving IC L298N
A very easy and safe is to use popular L293D
chip. It is a 16- pin chip. The pin configuration
of a L298N along with the behaviours of motor
for different input conditions is given in fig. 4.
The L298N is designed to provide
bidirectional drive currents of up to 600-mA at
voltages from 4.5 V to 36 V. When an enable
input is high, the associated drivers are
enabled. Also, their outputs are active and in
phase with their inputs. When the enable input
is low, those drivers are disabled, and their
outputs are off and in the high-impedance
state. With the proper data inputs, each pair of
drivers forms a full-H (or bridge) reversible
drive suitable for solenoid or motor
applications.
Arduino Uno
The Arduino Uno board is a microcontroller
based on the ATmega328. It has 14 digital
input/output pins in which 6 can be used as
PWM outputs, a 16 MHz ceramic resonator, an
ICSP header, a USB connection, 6 analog
inputs, a power jack and a reset button.
DC Motor
Almost every mechanical movement that we
see around us is accomplished by an electric
motor. Electric machines are means of
converting conventional energy. Motors take
electrical energy and produce mechanical
energy. Electric motor is used to power
hundreds of devices we use in everyday life.
An example of motor used in day to day life
is automobiles, food blenders and so is
vacuum cleaner.
Ultrasonic Sensor
This sensor is a high performance ultrasonic
range finder. It is compact and measures an
amazingly wide range from 2cm to 4m. This
ranger is a perfect for any robotic
application, or any other projects requiring
accurate ranging information. This sensor
can be connected directly to the digital I/O
lines of your
microcontroller and distance can be
measured in time required for travelling of
sound signal using simple formula as below.
Distance = (Echo pulse width high time *
Sound Velocity (340M/S)/2) or Distance in
cm = (Echo pulse width high time (in
us)*0.017) The module works on 5VDC
input and also gives an output signal directly
for detection of any obstacle up to 4M.Power
up the sensor by 5VDC using pins “VCC”
and “GND”. First of all a 10us trigger input
has to be given to the pin named “Trig” on
the sensor. This starts one cycle of range
conversion and sends 8 bursts of sound
waves from the transmitter. As soon
as the signals are transmitted the “Echo” pin
goes to high level and remains in high level
until the same sound waves are received by
the receiver. If the received sound waves are
same as what the same sensor transmitted
then the Echo pin goes to low level. If no
object is detected within 5M after 30ms the
Echo signal will automatically go to low
level.
FEATURES
• Cleaning every corner with the help of i-
Adapt that is an advance software system and
sensors
• Three-stage cleaning ensures the whole
floor cleaning following one by another
• Opportunity of pre-scheduling that make
regular duty round the week
• Docks and self-recharging without human
intervention
• Robotically adjust to all type of floor for
clean-up the home floor
• Cleaning capacity of hard to reach area like
under most furniture
• Easy to clean and emptying the robot
• Durable battery provides long time cleaning
capability
• Huge dust grasping capability
RESULT
We have developed the robot which will
improve the quality of cleaning in our college,
Vellore Institute of Technology, VIT. The
robot developed will be of great help to
workers to get to complete respective work in
time. The testing of the robot showed that it
can achieve almost all the functionalities
which were planned to implement originally.
When this robot completes the whole path it
automatically cleans itself in the station from
where it started cleaning and sends
information to user through smartphone. The
evaluation shows that our model is reliable and
cost effective. It works with less energy
consumption. Its results also showed that this
product is user-friendly.
autonomous cleaner robot we can enable
artificial intelligence in cleaning.
REFERENCE
[1] Ryo Kurazume, Shigeo Hirose,
“Development of a Cleaning Robot System with
Cooperative Positioning System” in
Autonomous Robots (2000) Volume 9, Issue: 3,
Publisher: Springer, Pages: 237-246
[2] Sewan Kim, “Autonomous cleaning robot:
Roboking system integration and overview” in
IEEE International Conference on Robotics and
Automation 2004 Proceedings ICRA 04 2004
(2004) Pages: 4437-4441 Vol.5
[3] Chih-Hao Chen and Kai-Tai Song:
“Complete Coverage Motion Control of a
Cleaning Robot Using Infrared Sensors”,
Proceedings of the 2005 IEEE International
Conference on Mechatronics July 10, 2005,
Taipei, Taiwan.
[4] Charles A. Schuler, Willam L. Mcnamee,
"Industrial Electronics and Robotics," Mcgraw-
Hill International Edition, Industrial Electronics
Series, 2003.
[5] Manreet Kaur, Preeti Abrol “Design and
Development of Floor Cleaner Robot (Automatic
and Manual) “International Journal of Computer
Applications (0975 – 8887) Volume 97– No.19,
July 2014.
[6] A Study on Development of Home Mess-
Cleanup Robot McBot- YoungkakMa,
Seungwoo Kim, Dongik Oh and YoungwanCho.

CONCLUSION AND FUTURE WORK

This research facilitates efficient floor cleaning

with sweeping and mopping operations. This robot
works automatically. This proposed work provides
the hurdle detection in case of any obstacle that
comes in its way. It reduces the labor cost and
saves time also and 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 Nevertheless, there are still new
ideas to improve the developed system and to add
new functionality to it. This autonomous cleaner
robot is GSM control system using mobile phones
for cleaning process.

The additional feature that may be added by

controlling the robot by Bluetooth or zigbee. And
by implementing solar panel in the robot we can
charge the battery using light energy which can
enhance the robot to operate in power failure
condition. By implementing the fuzzy logic in the