CHAPTER-1

OVERVIEW OF PRESENT WORK

INTRODUCTION

Evolutes on of robots brings advancement in the process of floor cleaning.

Floor cleaning is a regular task carried out by number of people every day, it needs lot
of human energy and time. Naturally, the high cost of this simple task has motivated
alternative solutions and that is Automatic Floor Cleaner.

Robot is an intelligent device having its own brain fed with computer logic so that
it can do the work according to the algorithm designed. On regular basis, peoples lead
a sophisticated and time-consuming lifestyle. Sometimes peoples are always thinks to
reduce long taking time. For reduce time consumption, robots have taken to reduce
the manual works. Autonomous smart floor cleaning system using IOT will reduce
long time taken manual working procedure. In our project model, this robot has
cleaning expertise like mopping, wet floor cleaning, picking up the waste, dry vacuum
cleaning etc.

Automatic is a great solution of this problem. So, we make an autonomous floor

cleaning robot that operated by internet of things and Arduino Nano programming.
Ultrasonic sensor is the most important for autonomous floor cleaning robot because
ultrasonic sensor works as eyes of robot. Ultrasonic sensor useful for turning of robot
by sense by obstacle or wall. Sensing distance range of robot set by Arduino Nano
programming. In this range robot sense the obstacle and turn back.

These day’s humans lead a sophisticated life. People within the cities don't
have regular and have long working times. In such a situation someone will choose
time saving methods. Thus, robots have taken the manual works. For career oriented
and job going women it becomes hectic to handle home and office together.
Traditionally floor is cleaned with the assistance of mop or wet mop using the hand as
a possible tool. they need to clean hard on the surface. The cleaning includes cleaning
of varied surfaces basically cement floors, highly polished wooden or marble floors.
Among these floors
the rough surface floor like cement floor, mostly present in semi urban areas are
covered with such a lot of dust which needs longer for cleaning.

For saving the time the necessity was of House Cleaning Robot, which is an
automatic system that works and cleans on its own without human
control/intervention. Autonomous robot for floor cleaning application reduces much
time in lifestyle. It performs sweeping and mopping tasks at a time, it also does
obstacle detection, and has automatic water spray. Service robots are getting popular
recently these robots operate semi- or fully automated to perform services helpful
within the well-being of humans and equipment. Robots of types including medical
robots, underwater robots, surveillance robots, demolition robots and other styles of
robots those do a multiple job. they'll clean floors, mow lawns and guard homes and
can also help in assisting old and disabled people, perform some surgeries, checking
pipes and sites that are highly dangerous to people, fight fires and defuse bomb.The
Internet of things (IoT) is a network of physical devices that are embedded with
electronics, sensors, software and network connectivity to share the data. The IOT
gives access to sense and control the objects remotely in a network which gives
direct integration of physical world into computer based systems. The robotics
details with design, operations, construction and application of robots. It also details
with computer system for the control, information processing and sensory feedback.
The Internet of things and Robotics have been hand holding each other contributing to
individual growth and development. In modern era robots are playing an important
role in life of mankind with their advance technologies, making the human life easier
and comfortable. The cleaning robot are effective in assisting humans in floor
cleaning applications at homes, hotels, restaurants, offices, hospitals, workshops,
warehouses and universities etc. so they have taken more recognition in robotics
research. Fundamentally, the robot cleaners have been distinguished by their cleaning
competence like dry vacuum cleaning, floor mopping etc. Some existing products are
built based on the simple obstacle avoidance using infrared sensors or ultra-sonic
sensor and some use laser mapping technique. The operations and cleaning
mechanism of each cleaning robots have its own advantages and disadvantages. For
example, some of the robots using
laser mapping are relatively less time consuming, faster and energy efficient but
costly. The laser mapping technique has few drawbacks such as it requires high-end
hardware for data processing and purchasing of new software that uses clouds.

avoidance based cleaning robots are relatively time consuming and less
energy efficient due to random cleanin but less costly. The countries that don’t
manufacture

Cleaning robots have to be imported from other country so the cost increases. To
provide a substantial solution to the problem of manufacturing robotic cleaner
utilizing local resources while keeping it low costs. To provide a substantial
problem solving for manufacturing

OBJECTIVE
Objective of this project is to design the automatic floor cleaning robot in order to
work human hazards place and to skip need of personal. To develop an autonomous
robotics system using internet of things and to design a floor cleaning robot without
human to the driving. Mainly it is used when obstacle is less and large area is required
to be clean. Mostly problems occur during large floor that the human capability. It
means that in large areas the human can get tired. In areas in area likes nuclear plants
or chemical industries the dangerous radiations, chemicals, air, pollutions can make a
man sick or death. So, this robot has applicable in that place. There are many features
are added in this project like mopping, wet floor cleaning, picking up the waste, dry
vacuum cleaning etc.

The main objective of this project is to design and implement a vacuum robot
prototype by using Arduino Nano, motor driver, Ultrasonic Sensor and to achieve the
goal of this project. Vacuum Robot will have several criteria that are user friendly.

Objective of this project is to design the automatic floor cleaning robot in order to
work human hazards place and to skip need of personnel. To develop an autonomous
robotics system using internet of things and to design a floor cleaning robot without
human to the driving.
 SCOPE OF PROJECT

The scope of this project is to develop an automatic device that can derived from
control room by internet of things that work of sweeping floor without need of
personal and we need to just click a start button of the robot in smartphone
application. This project has a scope in the areas like a large floor area, human
hazards area in industries like nuclear plant chemical plant and the areas where threat
of dangerous gasses presence.

APPLICATION

 Cleaning the wet and dry floor

 A floor cleaning assistant at home and offices
 Can clean the inaccessible areas like underneath of sofas, bed and table.
 Small particle can be picked up efficiently

LIMITATIONS

 Suitable only for flat surfaces.

 Semi-automated.

PROPOSED SYSTEM

The job of cleaning a residential floor is the same tedious as an industrial floor.
Residential floor has many type of stains which cannot be removed using existing
products in market as most of them are using vacuum technology to clean the floor.
Also, those robots using water which takes a longer time to dry and also it generates
patches on the floor. As a result, there is need to design a robot which use optimal
amount of water to clean the stains on the residential floor and clean it properly so
that there is no or very small layers of water remains which dries in no times and
reduce the harm to human life which may be caused by the wet floor.

Proposed automatic floor cleaner is a model that enables cleaning of the floor by the
help of highly stabilized electronic system. The designed system uses for both office
and home environments, which is to clean both dry and wet dust. There exist many
floor cleaning robots in the market which are not capable of cleaning the remote areas
 which are not in range. This proposed robot is purely based on IOT, so we can operate
from any place with the connection of internet this also makes the surroundings are
maintained by hygienic. In industrial and domestic applications a robot is very cost-
effective as compared to the cost of labor, the cost& flexibility make this robot a
better choice for floor cleaning. The proposed model “Design and Implementation of
Smart Floor Cleaning Robot using Android App” is shown in Fig. 1 for a better
understanding of the proposed work. This block diagram consists of a 12v DC motor,
L293D IC, IR Sensor, Bluetooth module, cleaning mechanism, and Arduino UNO. The
power supply is given to the Arduino UNO as well as to the relay. The relay works as
a switch so that it controls the water pump whenever the user receives the
commands from the transmitter app. The robotic arm used here consists of three DC
motors where one DC motor is used for moving the robotic arm up and down, the
second dc motor is used to close and open the teeth of the robotic arm, and the last
DC motor is used to rotate the arm completely.

HARDWARE USED

 ATmega 328p/Arduino
 Ultrasonic Sensor (SC- H04)
 Motor Driver (L293D)
 DC Geared Motor
 Suction Unit (Vacuum)
 Bluetooth (HC - 06)

ATMega 328p/Arduino:

ATMega 328p/Arduino is the ATMEL Microcontroller on which Arduino board is

based. The Atmel 8-bit AVR RISC-based microcontroller combines 32KB In-system
programmable flash (ISP) memory with read-while-write capabilities, 1 KB
EEPROM, 2 KB SRAM,23 general purpose I/O lines, 32 general purpose working
registers, three
flexible timer/counters with compare modes The Arduino Mega is a microcontroller
board based on the ATmega1280 (datasheet). It has 54 digital input/output pins (of
which 14 can be used as PWM outputs), 16 analog inputs, 4 UARTs (hardware serial
ports), a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header,
and a reset button. It Switch Auto/ Manual Vacuum Ultrasonic Sensors IR Sensors
LDR Sensors Battery & Power Regulator Left Motor Right Motor MOTOR: CHIP:
Autonomous/Manual Robotic Vacuum Cleaner Micro Controller LCD Display Real
Time Clock 9 contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with a AC-to-DC adapter or
battery to get started.

Fig-1: ATMega 328p/Arduino

Ultrasonic Sensor (SC- H04):

This economical sensor provides 2cm to 400cm of noncontact measurement

functionality with a ranging accuracy that can reach up to 3mm. Each HCSR04
module includes as ultrasonic transmitter, a receiver and a control circuit. It can be
used for avoiding obstacles as well as edge detection. In our project we have tested
both the cases.
Sensor plays a very important role in every type of robot. Various types of sensors
are present. A sensor is a transducer whose intention is to sense (that is, to
distinguish) some normal for its environs. It identifies occasions or changes in
amounts and gives a relating yield, by and large as an electrical or optical sign; for
instance, a thermocouple changes over temperature to a yield voltage. In any case, a
mercury-in-glass thermometer is additionally a sensor; it changes over the deliberate
temperature into development and construction of a fluid which can be perused on
an adjusted glass tube. Sensors are utilized as a part of ordinary questions, for
example, touch- touchy lift catches (material sensor) and lights which diminish or
light up by touching the base, other than endless utilizations of which the vast
majority are never mindful. With advances in micro machinery and simple to-utilize
microcontroller stages, the employments of sensors have extended past the more
customary fields of temperature, weight or stream measurement, for instance into
MARG sensors. Besides, simple sensors, for example, potentiometers and power
detecting resistors are still generally utilized. Applications incorporate assembling
and apparatus, planes and aviation, autos, solution and apply autonomy.

Fig-2: Ultrasonic Sensor

 Motor Driver (L293D):

Fig-3: Motor driver shield

a) Four H-Bridges: Two L293D Motor driver chips.

b) L293D is rated as 0.65A per bridge (1.20A peak) with thermal shutdown protection,
Motor Voltages from 4.5 VDC to 16VDC. (up to 36v if C6 and C7 are upgraded).
c) Up to 4 bi-directional motors with individual 8-bit speed selection (256 speeds).
d) Up to 2 stepper motors (unipolar or bipolar)
e) Pull down resistors keep motors disabled during power-up.
f) Separated logical and Motors power connections.
g) Terminal block connectors for motors and power
h) 2 connections for 5V ‘hobby’ servos.

DC Geared Motor:

DC Geared Motor can be defining an extension of DC motor. A geared DC has a gear

assembly attached to the motor. The speed of the motor is counted in terms of
rotations of the shaft per minute and is termed as RPM. The gear assembly helps in
increasing the torque and reducing the speed. Using the correct combination of gear in
a gear motor, its speed can be reduced to any desirable figure.
Dual Battery Relay

This relay is designed to isolate a second battery in a vehicle. The contact terminals
are connected between the positive terminal of the starting battery and the positive
terminal of the second battery. The negative terminals of both batteries attach to the
vehicle chassis. One of the coil terminals is connected to the chassis ground and the
other coil is connected to the ignition switch or fuse box. When the vehicle is
running, both batteries are connected together in parallel and both are being
charged by the alternator. When the ignition switch is off, the contacts are open,
disconnecting the second battery from the vehicle electrical system.

Fig-4: Geared Motor

Suction Unit (Vacuum):

In a suction unit in the project have a dirt bag attached and it suck all the dirt into it,
for this purpose it will also have a DC motor which will be synchronized with the DC
motor used for a rotating purpose (i.e., wheels). The propeller is made up of steel and
it has the dimeter is of 5cmwhich is divided into n8 equal plates, each rotated at angle
of 22 degrees. It requires the current of 0.4 amperes. It has a narrow nozzle which is 1
cm wide. The vacuum assembly is enclosed in the rigid plastic chamber, in order to
prevent dust enter this section. It is made waterproof against splash water. It rotates
and suck in the dust and which can further remove by detaching the unit.

Bluetooth (HC - 06):

For the communication of the robot with the cell phone or a mobile we are using the
Bluetooth device (HC - 06) is attached to the robot that receives the data from the
mobile and also it can transmit the data. It is used for converting serial port to
Bluetooth. It has two modes : Master and Slave. Bluetooth is a wireless
communication protocol running at the speed of 2.4 GHz with the architecture of
client-server and which suitable for forming personal area networks. It is designed for
devices such as mobile phones (low power). Bluetooth protocol uses the MAC
address of the devices. Bluetooth gives the connectivity between two devices using
MAC address.

Fig-5: Bluetooth Module

Servo Motor:

The Servo Motor basically consists of a DC motor, a Gear system, a position sensor
and a control circuit. The Gear and shaft assembly connected to the DC motors lower
this speed into sufficient speed and higher torque. The position sensor senses the
position of the shaft from its definite position and feeds the information’s to the
control circuit. The control circuit accordingly decodes the signals from the position
sensor and compares the actual position of the motors with the desired position and
accordingly controls the direction of rotation of the DC motor to get the required
position.

Fig-6: Servo Motor

Voltage and Time Settings

In addition to minimum charge rates there are charging voltage settings, which are
specific to your 6-volt deep cycle battery bank. ‘Bulk’ Charge Voltage is the voltage
at which the batteries will receive most of the charging.

When the battery has reached its bulk voltage level the charge current will slowly
decrease as batteries become more charged. As a battery becomes more charged it
presents more resistance to the flow of current than when discharged, hence the rate
of amps declines during a charging cycle.

This part of the charging cycle is called the ‘absorption’ stage. We recommend 30
minutes of absorption time per 100 amp hours of battery bank rated capacity (20
hour rate). All batteries will self-discharge over time, even if they are not used. In
stand-by applications where utility power is available batteries are often finish
charged at ‘float’ voltage.

This is the voltage level, which can be applied to the batteries to maintain their
charged state and, at the same time, minimize loss of electrolyte. In generator cycle
charging applications it is rare to “float” the batteries as it represents a costly and
inefficient use of fuel.

Regular ‘equalization’ charging is required as part of a battery maintenance routine.

Daily battery drain down will require a monthly equalization for optimal
performance.

An equalization charge is an intentional overcharge, which causes rapid bubbling of

the electrolyte, which in turn helps dislodge sulfation, which occurs naturally during
normal charge/discharge cycling. Equalization charge settings involve both voltage
and time specifications.
 Chapter II

LITERATURE REVIEW

PAPER REVIEW:

Floor cleaning robot may be a trending concept in these recent days. By reviewing
different paperwork and techniques of used several cleaning robots, we've started
acting on our design of floor cleaning robot which is predicated on Raspberry Pi 3
model. The papers surveyed for literature review are as follows: Aishwarya Pardeshi
et. al,

1) This paper presents the look, developed and fabricated model of programmed
cleaner robot. this type of robot performs automated function with extra
features like choose and place mechanism and dirt container with air vacuum
mechanism. this type of labor is straightforward and helpful in betterment of
life variety of a mankind. Ajith Thomas et. al,
2) proposed an autonomous robotic for floor cleaning program. it's able to
perform sucking and cleaning, detection of obstacles, and water spraying.
Furthermore, it's also able to add manual method. All hardware and software
functions are manipulated by the Raspberry pi3 model. Vaibhavi Rewatkar and
Sachin T. Bagde
1. Provide a comprehensive overview of the technological advantages helped
within the real world for the convenience of just about all of the people that
are extremely busy. Consequently, this has led to arriving up with a goal of
constructing an automatic home appliance. The review includes computerized
cleaner having components to DC motor operated wheels, the dustbin,
cleansing brush, mop cleansing and obstruction avoiding sensor. A 12V
battery is employed for supplying power. Special technique of
ULTRAVIOLET germicidal cleaning technology. The study has been done
keeping in mind economical expense of productA robotic vacuum cleaner is
an autonomous electronic device that is intelligently programed to clean a
specific area through a vacuum cleaning assembly.
 2. iRobot

In 2002, iRobot launched its first-floor vacuum cleaner robot named Roomba.
Initially, iRobot decided to manufacture limited number of units, but Roomba
immediately became a huge consumer sensation. Due to its increased market demand,
a series of following robots have been launched in the market: 1. Roomba Launch
Date: 2002

 Manufacturer: iRobot (American)

 Type of Use: Dry Vacuum
 Technology: IR, RF and auto-charging mechanism
 Price: $500

a. Scooba
 Launch Date: 2005
 Manufacturer: iRobot (American)
 Type of Use: Wet Washing of Floor • Technology: IR with virtual wall
accessories
 Price: $500

b. Braava
 Launch Date: 2006
 Manufacturer: iRobot, KITECH, Sony
 Type of Use: Floor moping for hard surfaces/Dry clean
 Technology: IR with virtual wall accessories for industrial cleaning
 Price: $700

NEATO Robotics

With the advent of robotic vacuum cleaners, many countries had started
manufacturing robotic cleaners. China also started manufacturing these robots with
more reliable technology and advanced features.
Neato XV-11

 Launch Date: 2010

 Manufacturer: Neato-Robots XV series (California)/China
 Type of Use: Vacuum Cleaning
 Technology: Laser range finder technology, SLAM (Simultaneous localization
and mapping) and auto-charging
 Price: $399

Dyson

In 2001, Dyson built a robot vacuum known as DC06 which was never released to the
market due to its high price. In 2014, Dyson launched a new product named as Dyson
360 Eye which uses a different technology for path finding as compared to products
manufactured by NEATO Robotics or iRobot.

EYE-360

 Launch Date: 2016

 Manufacturer: Dyson (UK)
 Type of Use: Vacuum Cleaning
 Technology: It uses a 360-degree panoramic vision camera to monitor its
environment in real time and a turbo brush for efficient cleaning along with an
auto-charging mechanism (Benchmark in history of cleaning robots)
 Price: $1000 (approx.)
Literature Review in Glance:

Sr Title of paper Further Extension Major Contribution

No.
1. “Automatic Floor cleaner” Pick & Place Brings flexible to do
mechanism work
2. “Advance Mobile for Environmentally Less time consuming
Floor Cleaning” friendly
3. “Floor Cleaning Robot” Auto disposal Helps physically
mechanism disabled people
4. “Automatic Floor Work Automatically Able to coverage large
Cleaner” areas
5. A Technological survey Dealing with some Saves time, Helps
on Autonomous Floor small pieces of physically disabled
Cleaning Robots garbage, Such as people
paper chips, paper and
soil
block
6. “Simple Autonomous Consumes less power Saves time
Cleaner Robot”
 CHAPTRE III

PROBLEM STATEMENT

Problem Statement:

 To design a robot which will use spray so that water usage will be minimum
as well as a very fine layer of water will sprayed on the floor which will make
the task of cleaning of drying of floor a lot easy.
 To design a compact floor cleaning robot. To design air drying method using
high speed fan instead of traditionally used vacuum or mop to soak excess
water left on the floor after the cleaning process.
 Now days people lead to busy life. People in urbans have abnormal and long
working hours. In such a situation an individual will always find ways of
saving time. For career oriented and dealing women’s it’s hard to handle home
together both job work.
 Normally floor is cleaned with the utilization of dry mopped or wet mopped
using the hand as a base tool. They need to be scrubbed hard on the surface.
 The cleaning module includes cleaning of varied surfaces like cement floors,
highly polished wooden or marble floor. The rough surface areas like cement
floor, are covered with heavy dust which consumes longer in cleaning.
 Since there are lots of problem happened during floor cleaning process, like
human as well as systematic error may be happened during cleaning of floor.
 So, to clean every corner of floor we are designing the robot who can do work
regarded cleaning manually as well as automatically.
 The job of cleaning a residential floor is the same tedious as an industrial floor.
 Residential floor has many type of stain which can not be removed using
existing product in market as the most of them are using vacuum technology
to clean the floor.
 Also those robots using water which take a longer time to dry and also it
generates patches on the floor.
 Though IOT delivers an impressive set of benefits, it also presents a
significant set of challenges. Here is a list of some its major issues:

 Security – IOT creates an ecosystem of constantly connected devices

communicating over networks. The system offers little control despite any security
measures. This leaves users exposed to various kinds of attackers.

 Privacy – The sophistication of IOT provides substantial personal data in extreme

detail without the user's active participation.

 Complexity – Some find IOT systems complicated in terms of design, deployment,

and maintenance given their use of multiple technologies and a large set of new
enabling technologies.

 Flexibility – Many are concerned about the flexibility of an IOT system to integrate
easily with another. They worry about finding themselves with several conflicting or
locked systems.

 Compliance – IOT, like any other technology in the realm of business, must comply
with regulations. Its complexity makes the issue of compliance seem incredibly
challenging when many consider standard software compliance a batt
 CHAPTER- IV

FORMULATION OF PRESENT WORK

CLEANING:

Cleaning is the essential need of the current generation. Basically, in household floors
the floor has to be cleaned regularly.

Different techniques are used to clean the different types of surfaces. The reasons for
floor cleaning are:

 Injuries due to slips on the floors are cause of accidental injuries or death. Bad
practice in floor cleaning is a major cause of accidents.
 To beautify the floor.
 Debris and obstructions are to be removed.
 Allergens and dusts are to be removed.
 Surface wear to be avoided.
 To make the environment sanitary (kitchens).
 Traction should be maintained at optimum level, so that no slip will occur.

PRESENT WORK:

Present work is aimed at working of an automated motion-controlled machine that

could clean the floor of normal Indian household. Once the machine is put in ON
mode it will move all over the surface without omitting any bit of floor space. Again,
the machine should avoid the obstacles on its path.

Proper cleaning is achieved by motion of the scrubber which is relatively rotational in

manner. The cleaning process is carried out by making the floor wet and scrubbing it
and again making the floor dry. The floor should be dry after the process is complete
because wet floor leads to different sort of problems as discussed above.

For this purpose, vacuum pumps are to be used. The cleaning also meet challenges
like which type of debris it will meet. So dry cleaning arrangements are installed.
PROPOSED SYSTEM:

⚫ The job of cleaning a residential floor is the same tedious as an industrial floor.

⚫ Residential floor has many types of stains which cannot be removed using
existing products in market as most of them are using vacuum technology to
clean the floor.

⚫ Also, those robots using water which takes a longer time to dry and also it
generates patches on the floor.

⚫ As a result, there is a need to design a robot which use optimal amount of

water to clean the stains on the residential floor and clean it properly so that
there is no, or very small layer of water remains which dries in no times and to
reduce the harm to human life which may be caused by the wet floor.

⚫ The proposed model “Design and Implementation of Smart Floor Cleaning

Robot using Android App” shows fig 1 for better understanding of the
proposed work. This block diagram consists of 12v DC motor, L293D IC, IR
Sensor, Bluetooth module, cleaning mechanism and Arduino UNO.

⚫ The power supply is given to the Arduino UNO as well as to relay. The relay
works as switch so that it controls the water pump whenever the user
receives the commands from transmitter app.

⚫ The robotic arm used here consists of three dc motors where one dc motor is
used for moving robotic arm up and down, second dc motor is used to close
and open the teeth of robotic arm and last dc motor is used to rotate arm
completely. Here we use L239D drivers for driving dc motors to move in
forward and backward direction.

⚫ Bluetooth module is used to control the robot using mobile phone

application within a range. The IR sensor used here is used to detect the
obstacle and gives indication of a obstacle using buzzer.
PROJECT WORKING:

⚫ The vacuum cleaner is made on a circular piece of board that has wheel
beneath it and brushes attached at its side in order to collect the dirt as it
passes over the surface.

⚫ DC motor is used to change direction of wheels which is connected to the

platform.

⚫ Sensors are basically used to set up a communication link between the outside
world and the digital device and to fulfill the purpose use two Ultrasonic
sensors (HC-SR04) are incorporated in the project.

⚫ One of it is used to detect the obstacles or hurdles in front of the cleaner so it

moves back and change its path or lane and the other is used to detect the
height in order to prevent the cleaner.

⚫ The automatic floor cleaner is intelligently programmed to clean a specific

area through a vacuum cleaning assembly. The cleaner is cost effective,
convenient, environment friendly that saves the valuable time of any person.

⚫ The vacuum cleaner is made on a circular piece of board that has wheel
beneath it and brushes attached at its side in order to collect the dirt as it
passes over the surface.

⚫ DC motor is used to change direction of wheels which is connected to the

platform. If the enough current is produced then DC motors can be operated
directly otherwise a motor driver is required so as to provide it a high current
i.e. upto 0.7 to 1.2 ampere. Driver Used is named as L293D with H-Bridge
Configuration.

⚫ The cleaner is handy and can spin anywhere in any direction. Sensors are
basically used to set up a communication link between the outside world and
the digital device and to fulfil the purpose use two Ultrasonic Sensors (HC-
SR04) are incorporated in the project.
FINAL OVERVIEW OF PROJECT WORK:

In this project, we have checked the working of our project, we connected it with a
battery and whose cleaning and moving system is controlled by a DC gear motor and
pump.

This technique is eco-friendly, and this work is an attempt to reduce accidents while
in critical driving conditions. We have tested the working of the system by placing
various objects ahead as obstacles. The system responded by reducing the speed of the
vehicle when the obstacle is placed at various distances from it.

Also, system properly perform the cleaning via vacuum cleaner and wiper motor and
this process is properly controlled by internet of things. Controlling of system via
Blynk app is properly working.

The proposed model “Design and Implementation of Smart Floor Cleaning Robot
using Android App” shows fig 1 for better understanding of the proposed work. This
block diagram consists of 12v DC motor, L293D IC, IR Sensor, Bluetooth module,
cleaning mechanism and Arduino UNO. The power supply is given to the Arduino
UNO as well as to relay.

The relay works as switch so that it controls the water pump whenever the user
receives the commands from transmitter app. The robotic arm used here consists of
three dc motors where one dc motor is used for moving robotic arm up and down,
second dc motor is used to close and open the teeth of robotic arm and last dc
motor is used to rotate arm completely. Here we use L239D drivers for driving dc
motors to move in forward and backward direction. Bluetooth module is used to
control the robot using mobile phone application within a range. The IR sensor used
here is used to detect the obstacle and gives indication of a obstacle using buzzer.
 CHAPTER- V

IMPLEMENTATION

AIM OF THE PROJECT:

 We want to reduce long taking time and hectic stress of daily working peoples.

 We want to do various working at a time like cleaning, sweeping and mopping.

 Sensors to detect the obstacles and objects.

 Automatic water spray to clean surface.

OBJECTIVES:

 The main objective of this project is to design a robotic device which can be
used to properly clean residential floor.

 To reduce the amount of water left over after cleaning as much as possible.

 To reduce the cost of device.

 To make the robot as compact as possible.

 To used in less area and industrial large area as well.

Arduino UNO:

The Arduino UNO board consists of fourteen digital input/output pins

and six analog input pins. It can be programmed using Arduino IDE via a type
B USB cable. Input voltage range of Arduino UNO lies between 7 to 20 volts
but the operating voltage of Arduino UNO is 5V. The Clock speed of Arduino
UNO is 16MHz. It has 32KB flash memory, 2KB SRAM and 1KB EEPROM.
Bluetooth Module:

Bluetooth operating range is 2400-2483.5MHz. Frequency-hopping

spread spectrum technology is used by Bluetooth. The data transmission is
done in packets and each packet is transmitted on any one of the Bluetooth
channel which has a bandwidth of 1MHz. Bluetooth 4.0 allows spacing of
2MHz for 40 channels. The starting frequency of first channel starts at
2402MHz and continues up to 2480MHz in 1MHz steps. It performs 1600
hops per second, with adaptive frequency-hopping (AFH) enabled.

2A DC Motor Driver IC:

2A is a Motor Driver IC which allows DC motor to drive on either

direction. 2A motor driver IC has 16 pins which are used to control a set of
two DC motors simultaneously in any direction. It is based on the concept of
H- bridge. The direction of voltage or current flow will be decided by the H-
bridge.
SOFTWARE IMPLEMENTATION:

The sequence of implementing the proposed model is shown below in

fig 2 in the form of flow chart

Fig 5.6.1.FLOW CHART

ARCHITECTURE OF THE PROJECT:

Fig 5.6.2. ARCHITECTURE OF FLOOR CLEANING SYSTEM

 CHAPTER-VI

DESIGN OF EXPERIMENTATION &

INSTRUMENTATION

HARDWARE & SOFTWARE:

Software

Express PCB:

Fig 6.1 Express PCB

Overview:

1. Express PCB is a very easy to use windows an application for laying out
printed circuit boards when a not required.
 2. Express PCB will guide you by highlighting the pins that should be
connected software include Express PCB program to layout your board. If
you link your schematic to Express PCB, the program will guide you through
the wiring process by highlighting how the component should be connected.
3. When your layout is complete, you can determine the exact cost of having
your board made with the compute board cost command.
4. We recommend that you begin your project by drawing a schematic using
Express SCH. Drawing a schematic is not required, but it will save.
5. In a few business days (typically 2 or 3) an overnight courier will deliver
your PC boards.

The Display:

Take a few minutes to acquaint yourself with the Express PCB main windows,
shown below you will notice that there are two toolbars, one along the top an
another the left side. At the button of the display is a status bar.

Example PCB File:

The PCB file contain the application setting and data that are used by the
software. The pcb file extension is also used for ACCEL or Protel printed circuit
board files. P-CAD database files, PC-DOCTOR files. Broderbund print shop
business card files and PCB layout check design rule template files.
 Flowchart for PCB:

Fig 6.2 Flowchart For PCB

 PCB Design:

Fig 6.3 PCB Design

A print circuit board (PCB) mechanically support and electrically connects
electric or electronic component using conductive tracks, pads and other features
etched from one more sheet layers of copper laminated onto and between sheet
layer of a non-conductive .

Substrate. Components are generally solders onto the PCB to both electrically
connect and mechanically fasten them to it .

Alternative to PCB include wire wrap and point-to-point construction, both once
popular but now rarely used. PCBs require additional design effort to lay out the
circuit.
 Fig . PCB Architecture

Hardware:

HC -05(Blue Tooth):

HC-05 module is an easy to use Bluetooth SPP(serial port Protocol) module,

designed for transparent wireless serial connection setup.

Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR(Enhanced

data rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and
baseband. It uses CSR Bluecore 04-External single chip Bluetooth system with
CMOS technology and with AFH(Adaptive frequency hopping feature). It has the
footprint as small 12.7mmx27mm.Hope it will simplify your overall
design/development cycle.

 Typical-80dBm sensitivity
  Up to+4dBm RF transmit power
 Low power 1.8V operation, 1.8 to 3.6V I/O
 PIO control
 UART interface with programmable baud rate
 With integrated antenna
 With edge connector

DC Motor:

Figure 6.5:DC MOTOR

1. Voltage: 12.0VDC

2. Output Speed: 200 +/- 10% RPM

3. No-Load output current: =< 50 mA

4. Rotation Output: CW / CCW

5. Noise: No Gear Noise

6. Stall output: : Slip Gear, Broken Gear is no allowed

7.Output shaft of the axial clearance: =< 0.1 ~ 0.3mm, Horizontal clearance
requirement =<0.05
Electrical Spec

1. No-Load Speed: 5700 RPM

2. No-Load Current: =&let; 30mA

3. Rotation: CW 4. Motor#: 370

Battery:

Figure 6.6 :- Battery

The size of battery bank you'll need will depend on the storage capacity required,
the maximum discharge rate, the maximum charge rate, and the minimum
temperature at which the battery will be used. When designing a power system, all
of these factors are looked at and the one requiring the largest capacity will dictate
battery size. Temperature has a significant effect on how well lead-acid batteries
will perform. At 400 F a battery in good condition will have 75% of its rated
capacity, and at 00 F the capacity drops to 50%.
BATTERY SAFETY INFORMATION

• In the event of exposure to battery electrolyte, wash the area with soap and water.
If acid enters the eyes, flood them with running cold water for at least 15 minutes
and get immediate medical attention.

• Always wear eye protection, such as safety glasses, when working with batteries •
Remove all loose jewellery before working with batteries.

• Never work alone. Have someone assist you with the installation to be close
enough to come to your aid when working with batteries.

• Always use proper lifting techniques when handling batteries.

• Always use identical types of batteries. Battery life will be compromised when
mixing different types or ages of batteries.

• Batteries are temperature sensitive. For optimum performance, they should be

installed in a stable temperature environment. Battery capacity can be reduced
substantially when batteries are cold.

• Batteries should be installed in a well-vented area to prevent the possible build up

of explosive gasses. For safety reasons, a well-sealed battery box, vented at its
highest point to the outside, is required for indoor installation (and recommended
for outdoor installation) of your lead acid batteries. Seal entry point of battery cables
from inverter into battery box with silicon or duct seal putty.

• NEVER smoke in the vicinity of a battery or generator.

• Always verify proper voltage and polarity before connecting batteries.

• Always connect batteries first then connect the cables to the inverter or
controller. This will greatly reduce the chance of spark in the vicinity of the
batteries.

• Use insulated tools when working with batteries.

Battery Size

The size of battery bank you'll need will depend on the storage capacity
required, the maximum discharge rate, the maximum charge rate, and the minimum
temperature at which the battery will be used. When designing a power system, all
of these factors are looked at and the one requiring the largest capacity will dictate
battery size. Temperature has a significant effect on how well lead-acid batteries
will perform. At 400 F a battery in good condition will have 75% of its rated
capacity, and at 00 F the capacity drops to 50%. The storage capacity of a battery,
the amount of electrical energy it can hold, is usually expressed in ampere hours. If
one amp is used for 100 hours, then 100 amp-hours have been used, like wise if 100
amps is used for one hour. A battery in a PV power system should have sufficient
amp hour capacity to supply needed power during the longest expected period of
cloudy weather. A lead acid battery should be sized at least 20% larger than this
amount, but a ni-cad battery can be sized to exactly this amount. If there is a source
of backup power, such as a stand-by generator with a battery charger, the battery
bank does not have to be sized for worst-case weather conditions, but still be
sufficient for three days with a 50% discharge

Lead-Acid Batteries

Lead-acid batteries are the most common in PV systems because their initial
cost is much lower and because they are readily available nearly anywhere in the
world. There are many different sizes and designs of this battery type, but the most
important designation is whether they are deep cycle batteries or shallow cycle
batteries. Shallow cycle batteries, like the type used as starting batteries in
automobiles, machinery and `Cat` batteries, are designed to supply a large amount
of power (current) in a short time and stand mild overcharging without losing
electrolyte. Unfortunately, none of these can tolerate being deeply discharged. If
they are repeatedly discharged more than 20%, their life will be very short. These
batteries are not a good choice for a PV system.
 6.4.4.ArduinoUno:

Fig 6.7 Arduino Uno

Overview:

The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet).

It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6
analog inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an
ICSP header, and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it with
a AC-to-DC adapter or battery to get started. The Uno differs from all preceding
boards in that it does not use the FTDI USB-to-serial driver chip. Instead, it features
the Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-serial
converter. "Uno" means one in Italian and is named to mark the upcoming release of
Arduino 1.0. The Uno and version 1.0 will be the reference versions of Arduino,
moving forward. The Uno is the latest in a series of USB Arduino boards, and the
reference model for the Arduino platform; for a comparison with previous versions,
 AT Mega 328:

Fig 6.8 AT Mega 328

ATMEGA328 is used similar to any other controller. All there to do is

programming. Controller simply executes the program provided by us at any instant.
Without programming controller simply stays put without doing anything.
ATmega328P is used in Arduino Uno and Arduino Nano boards, you can directly
replace the Arduino board with ATmega328 chip. For that first you need to install
the Arduino boot loader into the chip (Or you can also buy a chip with boot loader –
ATMega328P- PU). This IC with boot loader can be placed on Arduino Uno board
and burn the program into it. Once Arduino program is burnt into the IC, it can be
removed and used in place of Arduino board, along with a Crystal oscillator and
other components as required for the project. Which includes an Arduino Uno along
with an assortment of components (e.g. breadboard, sensors, jumper wires, and
LEDs) that make it possible to create a number of fun introductory projects.
 ATMEGA328P is high performance, low power controller from Microchip.
ATMEGA328P is an 8-bit microcontroller based on AVR RISC architecture. It is
the most popular of all AVR controllers as it is used in ARDUINO boards.
microcontrollr board based on the ATmega328P. It has 14 digital input/output pins
(of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic
resonator (CSTCE16M0V53 USB connection, a power jack, an ICSP header and a
reset button. It contains everything needed to support the microcontroller. High
Performance, Low Power AVR® 8-Bit Microcontroller Advanced RISC
Architecture High Endurance Non-volatile Memory Segments.

It’s Features:

 Two 8-bit Timer/Counters with Separate Pre scaler and Compare Mode
 One 16-bit Timer/Counter with Separate Pre scaler, Compare Mode, and
Capture
 Mode Real Time Counter with Separate Oscillator
 Six PWM Channels

. DC PUMP Motor:

Fig 6.9 DC Pumb Motor

1. 385 tiny self-priming pump USES is very wide, in home appliance, medical
treatment, the model of DIY, aquatic equipment, etc, to application, main
implementation pumping, cold water circulation, and other functions.

 Working voltage: DC6V - 12V

 working current: 1A (power must achieve 6 w above)

 Pump size: 40 mm * 90 mm * 35 mm

 Outlet diameter, diameter 6 mm, outside diameter of 8.5 mm

 Traffic: 1.5 - 2 l/Min

 largest: suction 2 meters

 Head: vertical maximum 3 meters

 Life: up to 2500 h,

 water temperature: up to 80 ℃.

This is the best DIY kit for making automatic hand sanitizer dispenser
Machine. Make your own automatic sanitizer dispenser very easy. No
Programming is required to assemble this kit. This kit includes automatic relay
controller board for sanitizer machine. This kit includes Ultra High Quality IR
Proximity Sensor module and mini dc water pump. DC powered pumps use
direct current from motor, battery, or solar power to move fluid in a variety of
ways. Motorized pumps typically operate on 6, 12, 24, or 32 volts of DC
power. Solar-powered DC pumps use photovoltaic (PV) panels with solar cells
that produce direct current when exposed to sunlight. Here, DC pump is used
to pump out the sanitizer liquid and spray it through the nozzle in a controlled
manner.
 DC Motor: High Torque Mini 12 DC Gear Motor,200 rpm.

Fig 6.10 DC Motor: High Torque Mini 12 DC Gear Motor 200 rpm
Motor Spec (Model# 25GA370D12, i = 1:25.5)

1. Voltage: 12.0VDC

2. Output Speed: 200 +/- 10% RPM

3. No-Load output current: =< 50 mA

4. Rotation Output: CW / CCW

5. Noise: No Gear Noise

6. Stall output: : Slip Gear, Broken Gear is no allowed

7. Output shaft of the axial clearance: =< 0.1 ~ 0.3mm, Horizontal

clearance requirement =< 0.05
 Electrical Spec

1. No-Load Speed: 5700 RPM

2. No-Load Current: =< 30mA

3. Rotation: CWMotor#: 370

Servo Motor:

A servo motor is a linear or rotary actuator that provides fast precision position
control for closed-loop position control applications. Unlike large industrial motors, a
servo motor is not used for continuous energy conversion. Servo motors have a high
speed response due to low inertia and are designed with small diameter and long rotor
length. Then how do servo motors work? Servo motors work on servo mechanism that
uses position feedback to control the speed and final position of the motor. Internally,
a servo motor combines a motor, feedback circuit, controller and other electronic
circuit.

Types of Servo Motors:

1. AC servo motor
2. DC servo motor
This project were used only DC Servo motor.

DC Servo Motors:

A DC servo motor consists of a small DC motor, feedback potentiometer, gearbox,

motor drive electronic circuit and electronic feedback control loop. It is more or less
similar to the normal DC motor. The stator of the motor consists of a cylindrical
frame and the magnet is attached to the inside of the frame.
Fig 6.11 DC Servo Motor
The rotor consists of brush and shaft. A commutator and a rotor metal supporting
frame are attached to the outside of the shaft and the armature winding is coiled in the
rotor metal supporting frame.

The Arduino Uno has a number of facilities for communicating with a computer,
another Arduino, or other microcontrollers.

The ATmega328 provides UART TTL (5V) serial communication, which is available on
digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels this serial
communication over USB and appears as a virtual com port to software on the
computer.

The '16U2 firmware uses the standard USB COM drivers, and no external driver is
needed. However, on Windows, a .inf file is required. The Arduino software includes
a serial monitor which allows simple textual data to be sent to and from the Arduino
board.

Working Principle of DC Servo Motor:

A DC servo motor is an assembly of four major components, namely a DC motor, a

position sensing device, a gear assembly, and a control circuit. The below figure
shows the parts that consisting in RC servo motors in which small DC motor is
employed for driving the loads at precise speed and position.
Fig 6.12 Working Principal Of DC Servo Motor
Thermopile Sensor:

A thermopile is an electronic device that converts thermal energy into electrical

energy. It is composed of several thermocouples connected usually in series or, less
commonly, in parallel. Such a device works on the principle of the thermoelectric
effect, i.e., generating a voltage when its dissimilar metals (thermocouples) are
exposed to a temperature difference. Thermopile operate by measuring the
temperature differential from their junction point to the point in which the
thermocouple output voltage is measured. Once a closed circuit is made up of more
than one metal and there is a difference in temperature between junctions and points
of transition from one metal to another, a current is produced as if generated by a
difference of potential between the hot and cold junction. Infrared Thermopile Sensor
can measure the temperature without contact by detecting the infrared energy of an
object. And the higher the temperature, the more infrared energy is produced.
Thermopile sensing elements consist of small thermocouples on silicon chips that
absorb energy and produce output signals. ISB- TS45H Infrared Thermopile Sensor
can be widely used in non-contact temperature measurement. This product consists of
infrared filters, thermistors and other
Fig 6.13 Thermopile Seonsor

Advantages of Thermopile Sensor:

 It is non-contact based temperature sensing device which uses infrared

radiation for heat transfer.

 It is used for temperature measurement of moving objects where contact based

sensors are not feasible

 Disadvantage of Thermopile Sensor:

 Thermopile sensors are static sensitive and hence unused ones must be
stored in conductive material to protect it against static fields and static
discharges.

 Streets and polarity should be kept as mentioned in the manual.

 This is due to the fact that stresses above those listed under absolute
maximum.
Features:

1. TO-46 package
2. High sensitivity
3. NTC thermistor compensation
4. Fast response
5. 5μm Long-wave pass filter

Uses:

1. Non-contact temperature measurement

2. Ear thermometer, forehead thermometer
3. Industrial continuous temperature control

6.4.12. Jumper Wires:

Jumper wires are simply wires that have connector pins at each end, allowing
them to be used to connect two points to each other without soldering. Jumper
wires are typically used with breadboards and other prototyping tools in order to
make it easy to change a circuit as needed. Fairly simple. In fact, it doesn’t get
much more basic than jumper wires. Though jumper wires come in a variety of
colors, the colors don’t actually mean any thing. This means that a red jumper
wire is technically the same as a black one. But the colors can be used to your
advantage in order to differentiate between types of connections, such as ground
or power While jumper wires are easy an din expensive to purchase, it can also
be a fun task to challenge students to make their own. Doing so requires
insulated wire and wire strippers. However, beware that it is important not to
nick the wire when stripping off the insulation.
Fig 6.14 Jumper Wires
Arduino IDE:

The Arduino Integrated Development Environment is a cross-platform application

(for Windows, macros, Linux) thatiswritteninfunctionsfromCand C++.It is used to
write and upload programs to Arduino compatible boards, but also, with the help of
3rd party cores, other v end or development boards . The source code for the IDE is
released under the GNU General Public License, version 2.The Arduino IDE supports
the languages C and C++ using special rules of code structuring. The Arduino IDE
supplies a software library from the Wiring project, which provides many common
input and output procedures. User-written code only requires two basic functions, for
starting the sketch and the main program loop, that are compiled and linked with a
program stub main() into an executable cyclic executive program with the GNU tool
chain, also included with the IDE distribution. The Arduino IDE employs the program
argued to convert the executable code into a text file in hexadecimal encoding that is
loaded into
the Arduino board by a loader program in the board's firmware.

Fig 6.15 Arduino IDE:

BC546/547/548/549/550:

Switching and Applications

• High Voltage: BC546, VCEO=65V

• Low Noise: BC549, BC550

• Complement to BC556 ... BC560

 Fig 6.16 BC546/547/548/549/550:

NodeMCU_DEVKIT_1.0_BOTTOM:

Fig 6.17 NodeMCU_DEVKIT_1.0_BOTTOM

Technical data sheet describing the cost effective, high-performance u-bloc 6
based NEO-6 series of GPS modules that brings the high performance of the u-
bloc 6 positioning.
 Chapter -VII

CONDUCT OF EXPERIMENTATION

.1 Bluetooth RC Controller Application Model

Fig.7.1 Bluetooth RC Controller Application

The application allows you to control an Arduino based RC robot

over Bluetooth. This is done using a Bluetooth enabled Android phone. Visit this site
for the Arduino code and control circuit. The app lets you control the Robot with
either buttons or the phone's accelerometer. This application is designed to be used
with a MODIFIED RC robot. You have to replace the robot’s stock control circuit
with a micro controller. This involves programming. The application will not work
with a brand new, out of the box RC robot. Please visit the website before you
download the application.
Bluetooth before Connection Model

Fig. 7.2 Bluetooth Before Connection Model

Bluetooth is a short-range wireless technology standard used for exchanging

data between it is mainly used as an alternative to wire connections, to exchange files
between. Nonetheless Bluetooth is useful when transferring information between two
or more devices that are near each other in low-bandwidth situations.
Bluetooth headphones and speakers can't connect with multiple devices at a time. Just
think of Bluetooth pairing is a form of information registration for linking devices.
Before you start the pairing operation, please confirm the following Refer to the
operating instructions or help guide for model-specific information.
Bluetooth Setting Connection Model

Fig. 7.3 Bluetooth Setting Connection Model

 Bluetooth Selecting Connection Model

Fig. 7.4 Bluetooth Selecting Connection Model

Bluetooth pairing is a form of information registration for linking devices. By

registering device information (pairing) between devices, they can connect to one
another. In order to use a Bluetooth device, you must first pair it with another
Bluetooth device. Pairing is a bit like exchanging phone numbers. Similar to how you
must exchange phone numbers with a person you want to call, connecting Bluetooth
devices requires you to first pair them to register the pairing information of each
device. After pairing the devices the first time, there is no need to repeat this pairing
process again. That is because each device has saved the necessary.
 Bluetooth after Connection Model

Fig. 7.5 Bluetooth after Connection Model

Bluetooth is a short-range wireless technology standard used for exchanging

data between it is mainly used as an alternative to wire connections, to exchange files
the development of the "short-link" radio technology, later named Bluetooth, it was
the revised T39 model that actually made it to store shelves in 2001. Bluetooth
networks (commonly referred to as Pico nets) use a master/slave. In this model, a
single master device can be connected to up to seven. Will respond with its address,
and possibly its name and other information. Connection -- After a device has
completed the paging process, it enters the connection state.
 INTERNAL PARTS:

Fig 7.6 Internal Part

 CHAPTER-VIII

CONCLUSION & SUGGETED FURTHER WORK

CONCLUSION:

This research facilitates efficient floor cleaning. Since in project the floor
cleaner is incorporated with different device like DC motor(s), ultrasonic sensor etc.
so it will be easy to handle it also saves time and will work automatically for cleaning
purpose at home and offices.

With simple algorithm and program, the cleaner will be able to cover large
floor areas as well a fond its way into and out of small corners. As the cleaner
traverses the room the sweeper installed in it will manage to pick up a significant
amount of dirt. Manual sweeping might not be that efficient as it will not be picking
up everything in as it is not sight but using the automatic floor cleaner it can br done
easily.

The robot is specially built on the use of modernized technology. It’s all the features
that are required for a floor cleaner. It works automatically and manually. It’s auto
drain feature. This could be locally manufactured smart floor cleaner robot.
Meanwhile its scheduling feature which can be operated by computing only, android
and windows app can make it little more A cheaper and user friendly vacuum cleaner
robot can be development with two different mode of controlling (manual and
autonomous mode) using an anrduino board with more electronic functionality.
Battery monitoring, self- charging, lighter body weight and to set alarm on/off time
manually are the future scope of this project.

System is specially made on the basic of modernized technology. All feature

are required for floor cleaning. It works automatically and manually too. So it will be
easy to handle for everyday. Because of compact system, it to handle save time and
will work automatically for cleaning purpose. Manual working is not that effective as
it will not picking everything accurately bit smart floor cleaning system can give you
accurate result.
FUTURE SCOPE:

From industries to homes automatic floor cleaner is used and is

becoming a very important part of life as it saves time, money and reduces
human efforts to a great extent. Its approximate cost is 5000 INR. It is
the future of cleaning in our fast moving life.

This robot can modified in future for a better effective work and
multipurpose. Efficiency of cleaning can be improve. By using IR sensor and
to add other features we can make a device that perfectly work for cleaning.

If we add a timer than it can work for a special time with starting
automatically. This floor cleaning robot is limited to clean floor stairs cannot
be cleaned by this so it can be modified for cleaning of stairs.

This robot can be modified for cleaning of more than one room by
one robot. This robot cannot clean circular room we can programmed for
cleaning every shaped room. So these are the future scope of floor cleaning
robot

 It will reduce the time consumption.

 System can give high cleaning efficiency.
 System performs various function so it will helpful for those daily working
peoples.
 If we add a timer than it can work for a special time with starting automatically.
 System can perform on the flat floor, not on the stairs. It can be modified.
 CHAPTER-IX

REFERENCES

1) P. Aishwarya, S. More, D. Kadam, V.A. Patil, “Automatic Floor Cleaner”,

IJECT vol. 8, 2017.
2) T. Ajith, M. S. Rohith, J. Febin, J. Cheriyan, R, Mary George, “An Advanced
Mobile Robot for Floor Cleaning”, International Journal of Advanced
Research in Electrical, Electronics and Instrumentation Engineering, vol. 5,
no. 3, 2016.
3) R. Vaibhavi and S. T. Bagde, “A Review on Design of Automated Floor
Cleaning System”, International Journal on Recent and Innovation Trends in
Computing and Communication, vol. 3, no. 2.
4) V. J Thomas, B. Xaviour, J. K George, “Cleaner Robot”, International Journal
of Emerging Technology and Advanced Engineering, ISSN 2250- 2459, ISO
9001:2008 Certified Journal, vol. 5, no. 12, 2015.
5) M. Jain, P. S. Rawat, J. Morbale, “Automatic Floor Cleaner”, International
Research Journal of Engineering and Technology (IRJET), vol. 4, no. 4 ,
2017.

6) Uman Khalid, Muhammad Faizan Baloch, Haseeb Haider, Muhammad

Usman Sardar , Muhammad Faisal Khan, Abdul Basit Zia1 and Tahseen Amin
Khan Qasuria Faculty of Electronic Engineering, Ghulam Ishaq Khan “Smart
Floor Cleaning Robot (CLEAR)” Institute of Engineering Sciences and
Technology, Pakistan Hamdard Institute of Engineering & Technology,
Hamdard University, Karachi, Pakistan 2015.

7) Manpreet 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.
8) © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal
| Page 307
9) P. Aishwarya, S. More, D. Kadam, V.A. Patil, “Automatic Floor Cleaner”,
IJECT vol. 8, 2017.