AUTOMATIC FLOOR CLEANING ROBOT

A MINI PROJECT REPORT

Submitted by
MARIAPPAN. S

THANGA DHINESH S

ESAKKI DURAI M

BALA SATHYA V

in partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING

in

MECHANICAL ENGINEERING

ST. MOTHER THERESA ENGINEERING COLLEGE, THOOTHUKUDI.

ANNA UNIVERSITY: CHENNAI 600 025

JUNE 2022
 BONAFIDE CERTIFICATE

Certified that this project report “AUTOMATIC FLOOR CLEANING ROBOT” is

the bonafide work of “MARIAPPAN S, THANGA DHINESH S, ESAKKI DURAI
M, BALA SATHYA V” who carried out the project work under my supervision.
Certified further that to the best of my knowledge the work reported herein does not
form part of any other thesis or dissertation on the basis of which a degree or award
was conferred on an earlier occasion on this or any other candidate.

SIGNATURE SIGNATURE

Dr. Jacob Rubasingh Mr. MUTHU KRISHNAN

SUPERVISOR & HEAD OF THE DEPARTMENT

Assistant Professor

Mechanical Engineering, Mechanical Engineering,

St. Mother Theresa Engineering College St. Mother Theresa Engineering College

Submitted for Semester Mini-Project viva-voce examination held on _________

INTERNAL EXAMINER. EXTERNAL EXAMINER.

 Acknowledgement

With pleasure I express my profound gratitude to our beloved chairman Dr.S.

Cletus Babu and also to our vice chairperson Dr. S. Amali Cletus for giving
motivation and providing all necessary facility for the successful completion of this
project.

It is my privilege to thank our beloved Prof. Mr. A. George klington for their
moral support and deeds in bringing out this project successfully.

I would like to thank, Prof. Mr. Muthu Krishnan Head of the Department,
Department of Mechanical Engineering without whom I would not have been pursued
this course.

I also thank my guide Dr. Jacob Rubasingh AP/ME for his helpful hands in
each step of my project and for his guidance and constant support in the successful
completion and improvement of the project.

I express my thanks to all our department staff members, friends and family
members for their advice and encouragement to do the project work with full interest
and enthusiasm
 TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE

NO. ABSTRACT

iii
LIST OF TABLE xvi
LIST OF FIGURES xviii
LIST OF SYMBOLS xxvii

1. INTRODUCTION 1

1.1 GENERAL 1
1.2 ............. 2
1.2.1 General 5
1.2.2 ........... 12
1.2.2.1 General 19
1.2.2.2 . . . . . . . . . . 25
1.2.2.3 . . . . . . . . . . 29
1.2.3 ............ 30
1.3 . . . . . . . . . . .. . . . . . . 45
1.4 .................. 58
2. LITERATURE REVIEW 69
2.1 GENERAL 75
2.2 .......... 99
2.2 ……………. 100
ABSTRACT

Now a days Households are becoming smarter and more automated. Automation

in Home makes more convenience and gives more time for people. Automatic Floor

Cleaning Robot is a robotic system which provides cleaning services for house and

offices. It will reduce man power. If we clean the floor manually we may leave some

portion, and also it is a time-consuming process. When we use this Automatic Floor

Cleaning Robot it will clean the floor completely and It does not need human

involvement. In large areas manual cleaning is not much efficiently. In this situation our

robot has an advantage. It will clean the floor automatically when the switch is on it will

move continuously and clean the entire area we only need to turn of the robot after

cleaning. This robot is small in size, so we can easily portable and place wherever and

whenever we need. The objective of this project is to make a prototype of a Floor

cleaning robot by using Arduino Uno, Ultrasonic Sensor, Motor driver, and D.C. Motors

and to achieve the goal of this project which is to save time, reducing man power,

increase the efficiency.

INTRODUCTION

Cleanliness is the activity of creating or creating a clean, beautiful, beautiful, green and
comfortable environment. Cleanliness, of course, is not only in one place, for example,
cleanliness of the office, namely cleanliness of the place of work, cleanliness of the
school, namely the cleanliness of the place to study or study, and so on was studied by
goon [1].

Cleanliness is an inseparable part of human life and is an interconnected element in

health science was studied by kaur [2]. Cleanliness is a prerequisite for the realization of
health, a clean environment will provide great benefits to humans and on the other hand
a dirty environment will give people big problems was studied by sahu [3]. The job of
cleaning the floor of a room may seem very simple, but actually a lot of time and energy
is used was studied by liu [4]. Human limitations and lifestyles that do not care about
the cleanliness of the surrounding environment, as well as technological limitations that
may be a factor for someone to not pay attention to the cleanliness of their environment
was studied by kukde [5].

Therefore, researchers are innovating to make simple tools that can help the community
or cleaning workers to clean floors was studied by muthugala [6]. Researchers want to
develop technology while maintaining cleanliness and keeping abreast of technologies
that are currently developing was studied by juang [7]. Therefore, the researcher wants
to make a technology design that can clean a room by cleaning the floor automatically
was studied by al-busaidi [8]. By using a familiar component, namely the Arduino Uno
as the microcontroller, the DC (direct current) motor as the driving force, this is because
the electronically controlled equipment provides more convenience in its use was
studied by Araujo [9]. Then an automatic floor cleaning robot was designed using an
ultrasonic sensor was studied by gargava [10]. This device can be an alternative to
helping the public or cleaning workers to clean floors which is done automatically was
studied by patil [11].
COMPONENTS DESCRIPTIONS

COMPONENTS QUANTITY

ARDUINO BOARD 1

MOTOR SHIELD 1

SERVO MOTOR 1

GEAR MOTOR 4

ULTRA SONIC SENSOR 1

12 V BATTERY 1

ARDUINO BOARD

Arduino is an open-source electronics platform based on easy-to-use hardware and

software. Arduino boards are able to read inputs - light on a sensor, a finger on a

button, or a Twitter message - and turn it into an output - activating a motor, turning

on an LED, publishing something online. You can tell your board what to do by

sending a set of instructions to the microcontroller on the board. To do so you use the

Arduino programming language (based on Wiring), and the Arduino Software (IDE),

based on Processing.

MOTOR SHIELD

The Arduino Motor Shield is based on the L298 (datasheet), which is a dual full-bridge

driver designed to drive inductive loads such as relays, solenoids, DC and stepping

motors. It lets you drive two DC motors with your Arduino board, controlling the speed
and direction of each one independently. You can also measure the motor current

absorption of each motor, among other features. The shield is TinkerKit compatible,

which means you can quickly create projects by plugging TinkerKit modules to the

board.

SERVO MOTOR

A Servo Motor is a small device that has an output shaft. This shaft can be positioned to

specific angular positions by sending the servo a coded signal. As long as the coded

signal exists on the input line, the servo will maintain the angular position of the shaft. If

the coded signal changes, the angular position of the shaft changes. In practice, servos

are used in radio-controlled airplanes to position control surfaces like the elevators and

rudders. They are also used in radio-controlled cars, puppets, and of course, robots.

GEAR MOTOR

SPECIFICATION:

SPEED 200 RPM

VOLTAGE 12 Volts

Material Metal

About this item

The metal gears have better wear and tear properties. Gearbox is sealed and lubricated

with lithium grease and requires no maintenance. Voltage: 6V to 12V; Shaft diameter:-

24 x 6 mm overall size :- 80 mm x 40mm. Although motor gives 200 RPM at 12V,

motor runs smoothly from 4V to 12V and gives the wide range of RPM, and torque.

Torque Range: 5 Kg-cm (Approx.); Stall Torque: 28 Kg-cm. Package Include 1 x 200

RPM DC Motor.

ULTRASONIC SENSOR

An ultrasonic sensor is an electronic device that measures the distance of a target object

by emitting ultrasonic sound waves, and converts the reflected sound into an electrical

signal. Ultrasonic waves travel faster than the speed of audible sound (i.e. the sound that

humans can hear).

BATTERY

Voltage 12 Volts

Reusability Rechargeable

Battery Weight 45 Grams

Item Dimensions 6.8 x 5.5 x 2 Centimeters

LxWxH

Item Weight 0.15 Kilograms

Battery: 18650 12.6v Battery pack Capacity: As per selection Battery Type:

Rechargeable Li-on battery. Input Voltage: 12.6 V Output voltage: 11.1 - 12.6v DC

Output Current: About 1-3A Product's life: charge and discharge circulation over 1000

Basic Information - Cell count: 3 - Cell type: 18650 - Configuration: 3 sets in series 1
sets in parallel(3S1P) Built-in BMS protection, With overcharge, over discharge, short

circuit protection - Pack: Brick, Blue PVC - Width: 20mm - Height: 68mm - Length:

55mm * Manual measurement, there will be deviations. Energy - Nominal Voltage:

11.1V - Output Voltage Range: 11.1v - 12.6 by test conditions (eg, temperature, wire

loss, test equipment, test parameters, etc.), please perform multiple tests and take the

average of the results to reduce the deviation. At a temperature of 25 ° C, the deviation

between the pure resistance discharge test result and the nominal data is controlled

within ±10%, which is normal. Charging - Charge mode: CC CV - Use a S Lithium-ion

battery dedicated charger to charge up to 8.4v - Charge current 2A max Discharge -

Continuous discharge current 5A - Instantaneous discharge current 7A.

IMPLEMENTATION OF WORK

Hardware design is a design or series of tools used to build an automatic floor cleaning

robot prototype using Arduino and ultrasonic sensors.

Arduino Microcontroller Circuit with Ultrasonic and Servo Sensors. This

Ultrasonic Sensor functions as a distance detector which is connected to the Arduino

Microcontroller so that the distance can block the robot and the Servo functions as a

motion controller with the Arduino Microcontroller to help move the ultrasonic sensor.

Fig.1. Arduino Microcontroller Circuit with Ultrasonic and Servo Sensors

Arduino Microcontroller Circuit with Motor Dc and Motor Shield L298. This Dc

motor functions as a robot driver which is connected to the Arduino. Microcontroller so

that it can run the robot and mop automatically and the Motor Shield L298 functions as
a motion regulator connected to the Arduino Microcontroller in order to regulate the

motion of the dc motor was studied by was studied by wahyuni [12].

Fig. 2. Arduino Microcontroller Circuit with Motor Dc and Motor Shield L298

The whole set of hardware configurations. The picture below is a series of

prototype automatic floor cleaning robots using Arduino and ultrasonic sensors.
 Fig. 3. The overall series of hardware configurations

Implementation is one of the stages in system development, where this stage is

the stage of placing a prototype of an automatic floor cleaning robot so that it is ready

for operation and can be seen as an effort to realize the system that has been designed

was studied by VPH [13].

A. System Testing

Testing the Arduino Uno system on an automatic floor cleaning robot prototype can

be done in the following steps:

1. Connect the battery to the hardware assembly of the automatic floor cleaning robot

prototype and press the on button.

2. After that, the automatic floor cleaning robot prototype will turn on like the

supporting devices, namely Arduino Uno, Ultrasonic Sensor, Motor Shield L298,

Servo, and Motor Dc.

3. After the automatic floor cleaning robot prototype is connected to its supporting

devices, the ultrasonic sensor will detect the distance that is an obstacle.

4. When the automatic floor cleaning robot prototype detects the distance that is an

obstacle, the robot automatically looks for a direction that is not a barrier to the floor

cleaning robot was studied by lee [28].

B. Ultrasonic Sensor Testing

Testing by testing the distance on the ultrasonic sensor. The distance value on the

sensor has been determined, that is, when the distance read by the ultrasonic sensor is

below 15 cm, the floor cleaning robot prototype will automatically stop and the robot

prototype will look for a direction that does not obstruct it was studied by zhang [29].

Table 1. Ultrasonic Sensor Testing

Distance Barrier Condition Validation
>15 CM Nothing The prototype of a street Success
floor cleaning
robot
< 15 CM Front The floor cleaning robot Success
prototype stops then turns
left or right
< 15 CM Front and Left The floor cleaning robot Success
prototype stops then turns
right
< 15 CM The floor cleaning robot Success
Front, Left and prototype
Right stopped then turned
backwards
 The results of testing the value of the ultrasonic sensor distance found different

conditions that occur. In a distance of> 15 cm, the condition of the prototype cleaning

robot for the road floor cleaning is obtained, while the distance <15 cm, the condition

for the prototype of the street floor cleaning robot has stopped was studied by wahyuni

[30]. From the results of this test, the prototype of the floor cleaning robot will

automatically stop when there is a barrier, then turn according to the test that the

researcher has made in the table above was studied by jeon [31].
CONCLUSION
Based on the results of the analysis, design and implementation that has been

done. So, some conclusions can be drawn, namely the automatic floor cleaning robot

prototype is quite effective in helping the community or cleaning workers to clean floors

was studied by liang [14]. Build an automatic floor cleaning robot prototype using the

Arduino Uno Microcontroller as a data processor and an ultrasonic sensor as a distance

controller which when someone blocks it, the floor cleaning robot prototype will

automatically run in the direction that no one is blocking it. Automatic floor cleaning

robot prototype using ultrasonic sensors can more effectively detect the distance

blocking it.
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