Floor cleaning robot

Abstract—
With the advancement of technology, robots are getting more
attention of researchers to make life of mankind comfortable. This
report presents the design, development and fabrication of prototype
Smart Floor Cleaning Robot (CLEAR) . Subject robot operates in
autonomous mode as well as in manual mode along with additional
features like scheduling for specific time and bagless dirt container
with auto-dirt disposal mechanism. This work can be very useful in
improving life style of mankind.

I. INTRODUCTION:
In recent years, robotic cleaners have taken major attention
in robotics research due to their effectiveness in assisting
humans in floor cleaning applications at homes, hotels,
restaurants, offices, hospitals, workshops, warehouses and
universities etc. Basically, robotic cleaners are distinguished
on their cleaning expertise like floor mopping, dry vacuum
cleaning etc. Some products are based on simple obstacle
avoidance using infrared sensors while some utilize laser
mapping technique. Each cleaning and operating mechanism
of robotic floor cleaners has its own advantages and
disadvantages. For example, robots utilizing laser mapping
are relatively faster, less time consuming and energy efficient
but costly, while obstacle avoidance based robots are
 relatively time consuming and less energy efficient due to
random cleaning but less costly.

Components required

Wheel drive robot chassis

A chassis is the internal framework of an artificial object, which

supports the object in its construction and use. An example of a
chassis is a vehicle frame, the underpart of a motor vehicle, on which
the body is mounted; if the running gear such as wheels and
transmission, and sometimes even the driver's seat, are included,
then the assembly is described as a rolling chassis.

Arduino UNO R3.

The Arduino UNO is a widely used open-source microcontroller

board based on the ATmega328P microcontroller and developed
by Arduino.cc. The board is equipped with sets of digital and
analog input/output (I/O) pins that may be interfaced to various
expansion boards (shields) and other circuits.[1] The board features
14 Digital pins and 6 Analog pins. It is programmable with
the Arduino IDE(Integrated Development Environment) via a type B
USB cable.[4] It can be powered by a USB cable or by an external 9
volt battery, though it accepts voltages between 7 and 20 volts. 
 Ultrasonic Sensor.
As the name indicates, ultrasonic sensors measure
distance by using ultrasonic waves.
The sensor head emits an ultrasonic wave and
receives the wave reflected back from the target.
Ultrasonic Sensors measure the distance to the target
by measuring the time between the emission and
reception.

The distance can be calculated with the following formula:

Distance L = 1/2 × T × C
where L is the distance, T is the time between the emission and reception, and C
is the sonic speed. (The value is multiplied by 1/2 because T is the time for go-
and-return distance.)

Arduino Motor Driver shield.

A very easy and safe is to use popular L293D chip. It is a

16- pin chip. The pin configuration of a L293D
along with the behaviours of motor for different input
conditions is given in fig. 4. The L293D 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.

Battery for the Motors

A Scotch Brite Scrub Pad.

 Home made Vaccum cleaner

Infrared sensor
An infrared sensor is an electronic instrument which is used to sense
certain characteristics of its surroundings by either emitting and/or
detecting infrared radiation. Infrared sensors are also capable of
measuring the heat being emitted by an object and detecting motion.

Billing OF Materials
Arduino UNO Board 400
Ultrasonic HRC-04 90
Board(1)
Breadboard(2) 80
Jumper wires 70
Battery(9v) 40
Chassis 290
Battery 600
Rechargeable(12v)(2)
Wheels(4) 200
DC Motors(3) 500
Infrared sensor 140
Motor shield 90
total 2500

Program used:
 const int mt1 =  2;    
    const int mt2 =  3;   
    const int mt3 =  4;  
    const int mt4 =  5; 
    const int trigPin = 8;
    const int echoPin = 9;
    const int rsen =  7;    
    const int lsen =  6;  
    long duration;
    int distanceCm, distanceInch;
    float vout;
    void setup() 
    {
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);
    pinMode(rsen, INPUT);
    pinMode(lsen, INPUT);
    pinMode(mt1,OUTPUT);
    pinMode(mt2,OUTPUT);
    pinMode(mt3,OUTPUT); 
    pinMode(mt4,OUTPUT);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,HIGH);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,HIGH);
    digitalWrite(rsen,LOW);
    digitalWrite(lsen,LOW);
     Serial.begin(9600);
    }
    void loop() {
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    duration = pulseIn(echoPin, HIGH);
    distanceCm= duration*0.034/2;
    distanceInch = duration*0.0133/2;
    vout=distanceCm;
    Serial.print("Distance in cm: ");
    Serial.println(distanceCm);
     Serial.print("Distance in inch: ");
    Serial.println(distanceInch);
    delay(10);
    digitalWrite(mt1,LOW);
    digitalWrite(mt2,HIGH);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,LOW);
    if((vout<=30)&& (digitalRead(rsen)==LOW)&&(digitalRead(rsen)==LOW))
    {
     digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,HIGH);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,HIGH);
    delay(1000);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,LOW);
    digitalWrite(mt3,LOW);
    digitalWrite(mt4,HIGH);
    delay(500);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,LOW);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,LOW);
    delay(500);
   
    }
   if((vout<=30)&&(digitalRead(rsen)==HIGH)&&(digitalRead(lsen)==LOW))
    {
     digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,HIGH);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,HIGH);
    delay(1000);
    digitalWrite(mt1,LOW);
    digitalWrite(mt2,HIGH);
    digitalWrite(mt3,LOW);
    digitalWrite(mt4,HIGH);
    delay(500);
    }
    if((vout<=30)&&(digitalRead(lsen)==HIGH)&&(digitalRead(rsen)==LOW))
    {
     digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,HIGH);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,HIGH);
    delay(1000);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,LOW);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,LOW);
    delay(500);
    }
    if((vout<=30)&& (digitalRead(rsen)==HIGH)&&(digitalRead(lsen)==HIGH))
    {
     digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,HIGH);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,HIGH);
    delay(1000);
    digitalWrite(mt1,HIGH);
    digitalWrite(mt2,LOW);
    digitalWrite(mt3,HIGH);
    digitalWrite(mt4,LOW);
    delay(500);
    }
    }

uses of floor cleraning robot

– Saves Time

– Ideal for People with Mobility Issues

– Advanced Features

– You Can Clean Your Home when Your Are Away

 Minimal Maintenance

-It is very first and efficient and the control system

used in Industries are 100 times efficient than
human work.
-In some part of the work areas it lessens the human
efforts. Washing machine comes under this category.

 It also plays the great role in bringing entertainment

in human life in different work. Television is the live
example of these type of robots.

references
1. L293D datasheet. Website (www.ti.com)
2. S.Muruganandhan, G.Jayabaskaran, P.Bharathi, “LabVIEW-NI ELVIS II based Speed
Control of DC Motor,”
International Journal of Engineering Trends and Technology (IJETT) Volume 4 Issue 4,
April 2013
3. A Technical Analysis of Autonomous Floor Cleaning Robots Based on US Granted
Patents, European
International Journal of Science and Technology Vol. 2 No. 7 September 2013. Liu,
Kuotsan1, Wang, Chulun
4.
http://web.stevens.edu/ses/me/fileadmin/me/senior_design/2007/group01/DesignFinal.pdf
5. http://eng.najah.edu/sites/eng.najah.edu/files/robotic_vacuum_pre_1.pptx
6. http://www.ecs.umass.edu/ece/sdp/sdp05/preston/sdp_data/Draft%20System
%20Specification.doc
7. http://letsmakerobots.com/node/40288
8. http://www.intorobotics.com/build-diy-roomba-style-robot-vacuum-cleaner/
9. http://www.irobot.com/For-the-Home/Vacuum-Cleaning/Roomba.aspx