ELECTRONICS AND ROBOTICS PROJECT

SY 2023
ROBOCAR MOP CLEANER

Outline
Circuit Diagram Hardware
Required Product
expenses:
Component Description
Code
Applications

Hardware Required
Arduino UNO
100rpm Geared motors
HC-05/06 Bluetooth module
L293D motor driver board
Standard servo motor (180-degree rotation)
12V Sealed lead-acid rechargeable battery
12V Water pump
TIP31C/TIP122 NPN power transistors
Perforated board

Product expenses:
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Circuit Diagram

Component Description
1. 2x 100rpm Geared motors: These motors provide the primary propulsion for the Robocar Mop
Cleaner, allowing it to move and navigate across the floor.

2. 2x Wheels for motors: These wheels are attached to the geared motors and facilitate the
movement of the Robocar Mop Cleaner.

3. 2x 75rpm Plastic geared motors w/ wheels: Similar to the geared motors mentioned earlier,
these motors and wheels also contribute to the movement and navigation of the device.

4. 1x Arduino UNO: The Arduino UNO serves as the microcontroller board, responsible for
controlling and coordinating the various components of the Robocar Mop Cleaner, including motor
control, sensor inputs, and overall behavior.

5. 1x HC-05/06 Bluetooth module: The Bluetooth module enables wireless communication,

allowing for remote control or interaction with the Robocar Mop Cleaner through a smartphone or other
Bluetooth-enabled devices.

6. 1x L293D motor driver board: The motor driver board is used to control the direction and
speed of the motors, providing the necessary power and control signals.
 7. 1x Standard servo motor (180-degree rotation): The servo motor is typically used to control
the movement of the cleaning mechanism or other mechanical components, providing precise and
controlled motion.

8. 1x 12V Sealed lead-acid rechargeable battery: This battery serves as the power source for the
Robocar Mop Cleaner, providing the necessary electrical energy to operate the motors, microcontroller,
and other electronic components.

9. 1x 12V Water pump: The water pump is likely used to supply water or cleaning solution to the
cleaning mechanism for wet mopping.

10. 2x TIP31C/TIP122 NPN power transistors: These power transistors might be used for
controlling high-power devices or circuits within the Robocar Mop Cleaner, such as the water pump or
other auxiliary components.

11. 2x Old CDs: The old CDs are often repurposed as wheels or components of the wheel
assembly, providing stability and smooth movement to the Robocar Mop Cleaner.

12. Paint roller w/ shaft: The paint roller shaft can be adapted to serve as part of the cleaning
mechanism, allowing the device to mop or clean the floor effectively.

13. Wiping cloth/napkin/old rags: These materials are used to attach to the cleaning mechanism,
providing the actual mopping or wiping action on the floor surface.

14. A needle and thread: The needle and thread might be used for sewing or attaching the
wiping cloth or other fabric materials securely to the cleaning mechanism.

15. Vinyl tubing: Vinyl tubing is commonly used to connect different components or create fluid
pathways, such as routing water or cleaning solution from the water pump to the cleaning mechanism.

16. Rainbow wire: Rainbow wires, typically multicolored wires, can be used for making electrical
connections between various components, ensuring clarity and organization.

17. Male-male/female-female/male-female jumper wires: These jumper wires are used to

establish electrical connections between different components on a breadboard, perfboard, or between
the components themselves.

18. Male/female headers: Male/female headers are connectors used to create secure and
reliable connections between different components, such as the Arduino and motor driver board.

19. Perforated board: A perforated board, often a prototyping board or perfboard, can be used
to mount and interconnect various electronic components in a clean and organized manner.

20. Nuts and screws: Nuts and screws are used to secure and fasten components to the chassis
or base, ensuring stability and structural integrity.
 21. Plywood base: The plywood base provides a sturdy foundation for mounting and assembling
the different components of the Robocar Mop Cleaner, offering stability and support.

22. A 600ml plastic bottle: The plastic bottle might be repurposed as a reservoir for holding
water or cleaning solution, which can be connected to the water pump for the mopping action.

These parts collectively contribute to the overall functionality, movement, control, and cleaning
mechanism of the Robocar Mop Cleaner, creating an autonomous or remote-controlled floor cleaning
device..

Code
#include <Servo.h> Servo
myServo; int r_motor_n =
10; //PWM control Right
Motor + int r_motor_p =
11; //PWM control Right
Motor - int l_motor_p =
9; //PWM control Left
Motor - int l_motor_n =
6; //PWM control Left
Motor + int pump = 4; int
mop = 5; int serv = 3; int
speedy = 255; int
incomingByte = 0; // for
incoming serial data void
setup()
{ myServo.attach(3);
myServo.write(0);
pinMode(r_motor_n,
OUTPUT); //Set control
pins to be outputs
pinMode(r_motor_p,
OUTPUT);
pinMode(l_motor_p,
OUTPUT);
pinMode(l_motor_n,
OUTPUT);
pinMode(pump,
OUTPUT); pinMode(mop,
OUTPUT);
digitalWrite(r_motor_n,
LOW); //set both motors
off for start-up
digitalWrite(r_motor_p,
LOW);
digitalWrite(l_motor_p,
LOW);
digitalWrite(l_motor_n,
LOW); digitalWrite(pump,
LOW); digitalWrite(mop,
LOW);
Serial.begin(9600); } void
loop() { if
(Serial.available() > 0)
{ incomingByte =
Serial.read(); }
switch(incomingByte)
{ case 'S': // control to stop
the robot
digitalWrite(r_motor_n,
LOW);
digitalWrite(r_motor_p,
LOW);
digitalWrite(l_motor_p,
LOW);
digitalWrite(l_motor_n,
LOW);
Serial.println("Stop");
incomingByte='*'; break;
case 'R': //control for right
analogWrite(r_motor_n,
speedy);
digitalWrite(r_motor_p,
LOW);
analogWrite(l_motor_p,
speedy);
digitalWrite(l_motor_n,
LOW);
Serial.println("right");
incomingByte='*'; break;
case 'L': //control for left
analogWrite(r_motor_n,
LOW);
digitalWrite(r_motor_p,
speedy);
analogWrite(l_motor_p,
LOW);
digitalWrite(l_motor_n,
speedy);
Serial.println("right");
incomingByte='*'; break;
case 'F': //control for
forward
analogWrite(r_motor_n,
speedy);
digitalWrite(r_motor_p,
LOW);
analogWrite(l_motor_p,
LOW);
digitalWrite(l_motor_n,
speedy);
Serial.println("right");
incomingByte='*'; break;
case 'B': //control for
backward
analogWrite(r_motor_n,
LOW);
digitalWrite(r_motor_p,
speedy);
analogWrite(l_motor_p,
speedy);
digitalWrite(l_motor_n,
LOW);
Serial.println("right");
incomingByte='*'; break;
case 'P': // pump on
digitalWrite(pump, HIGH);
Serial.println("pump on");
incomingByte='*'; break;
case 'p': // pump off
digitalWrite(pump, LOW);
Serial.println("pump off");
incomingByte='*'; break;
case 'M': digitalWrite(mop,
HIGH); // mopper on
Serial.println("mopper
on"); incomingByte='*';
break; case 'm':
digitalWrite(mop, LOW); //
mopper off
Serial.println("mopper
off"); incomingByte='*';
break; case 'U': // roller up
myServo.write(0);
Serial.println("roller up");
incomingByte='*'; break;
case 'u': // roller down
myServo.write(135);
Serial.println("roller
down"); incomingByte='*';
break; case '1': speedy =
155; Serial.println("speed=
10"); incomingByte='*';
break; case '2': speedy =
185; Serial.println("speed=
25"); incomingByte='*';
break; case '3': speedy =
215; Serial.println("speed=
75"); incomingByte='*';
break; case '4': speedy =
255; Serial.println("speed=
100"); incomingByte='*';
break; delay(5000); }
}

Applications

1. Home Cleaning: The robocar mop cleaner can navigate around the house,
reaching under furniture and cleaning hard-to-reach areas. It can mop floors,
removing dust, dirt, and spills, providing a convenient solution for maintaining
cleanliness in the home.

2. Office Spaces: In office environments, the robocar mop cleaner can efficiently
clean large areas, such as conference rooms, hallways, and common areas. It can
be programmed to operate during off-peak hours, ensuring minimal disruption to
employees.

3. Retail Stores: With its small size and maneuverability, the robocar mop cleaner
can clean retail floors during business hours without obstructing customer
movement. It can remove debris, dust, and stains, helping to maintain a clean and
presentable shopping environment.

4. Restaurants and Cafes: In food establishments, maintaining cleanliness is

crucial. The robocar mop cleaner can mop and sanitize kitchen floors, removing
spills, grease, and food particles. It can also navigate around dining areas, ensuring
clean and hygienic floors for customers.
5. Hotels: Mini robocar mop cleaners can be employed in hotel rooms to
automate the mopping process. They can efficiently clean the floors between
guest stays, ensuring a clean and inviting atmosphere for new arrivals.

6. Hospitals and Healthcare Facilities: In healthcare settings, maintaining

cleanliness and hygiene is of utmost importance. The robocar mop cleaner can be
used to clean hallways, patient rooms, and waiting areas, reducing the risk of
infections and improving overall cleanliness standards.

7. Educational Institutions: From classrooms to hallways, a robocar mop cleaner

can help keep educational facilities clean. It can be scheduled to clean at specific
times, ensuring that students and staff have a clean environment conducive to
learning.

These are just a few examples, and the applications of a mini robocar mop
cleaner can extend to various industries and environments where automated
cleaning is needed. Its small size, maneuverability, and ability to perform
repetitive tasks make it a versatile tool for maintaining cleanliness and hygiene.

Prepared and submitted by:

1. REENA MAE VENICE MAÑALAC

2. ALEXANDRA AYERAS

3. RAMONA VIERNES