AUTOMATIC FLOOR CLEANING MACHINE

Research Proposal

Submitted to the Faculty

of the

In Partial Fulfillment

of the requirements

In
 CHAPTER 1

PROBLEM AND ITS BACKGROUND

INTRODUCTION

In the modern era, the Automatic Floor Cleaner is required. Thus, the cleaner is
designed in such a way that is capable of cleaning the area, reducing the human effort
just by starting the cleaning unit. Foams are attached at the middle while rotating in
order to wipe the dirt sticking on the floor while moving. It uses Ultrasonic sensors to
detect the obstacles and hence change its direction while moving and also preventing
the cleaner to fall from height. The Research and Development of an automatic floor
cleaning robot will be able to clean the floor is not a trivial challenge. In order to finish
such a task within 10 weeks or so, some simplifications and assumptions were made by
the researchers’ bright minds, initial ideas of an ideal automatic floor cleaning. In this
way, some functional requirements that would improve the robot performance were not
taking into account due either to inherent complexity or to their mechanical implications.

According to Merriam Webster, Robotics is a scientific and engineering discipline

that needs a lot of focus on the usage of artificial capabilities. It is a branch of
engineering field that involves electronics, computer science, artificial intelligence (AI),
mechatronics, nanotechnology and bioengineering. Nowadays, robot is one of the most
useful tools that could help human being to do such tasks and be able to replace human
functions and movements automatically. It is one of the machines that can be controlled
and was programmed through computer by humans.
BACKGROUND OF THE STUDY

In Cleaning robots for private household seems to be capable of performing a

variety of tasks. Since, it is more meticulous and consistent on their work than humans.
Robots also allow increased production for a better improvement. Robots can think
rationally without emotions and has less error rate compared to humans, if coded
properly. Robots are emerging in many areas, people read about it in newspaper and to
ease the work that is hard and efficient to use that seems like the world becoming more
automated. It is a useful device of the perception that consumers will be comfortable
while using the product, using lesser effort and it is easier to use.

A robotic vacuum cleaner is an autonomous electronic device that is intelligently

programmed to clean a specific area through a vacuum cleaning assembly. Some of the
available products can brush around sharp edges and corners while others include a
number of additional features such as wet mopping and UV sterilization rather than
vacuuming. Some of the available products are discussed below:

A. 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.

1. 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.
2. EYE-360[5 ] • 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 cleaning
robots)
 The researchers will create this robot to expand further the knowledge of people
about automatic floor cleaning robots. To help people live healthier lives, people must
find better methods of detection, treatment and cures for an unhealthy lifestyle.

Therefore, the researchers thought about making a robot that helps humans to clean
the dirty particles on the floor.

STATEMENT OF THE PROBLEM

The main objective of the study is to give knowledge on what a cleaning robot
could do in today's generation and its benefits to human and its surroundings.

The specific objective of the study that is needed for the completion of it is as
follows:

1. To Design and Implement a cleaning robot prototype by using the ff:

a. Arduino Board R3
b. Motor Drivers
c. Jumper Wires
d. Wheel
e. Switch
f. Ultrasonic Sensors
g. Acrylic sheets
h. Recyclable plastic bottles
2. To give information about Automatic Floor Cleaning Machine
a. Anatomy of Floor cleaning robots
b. Basic functions of Floor cleaning robots
3. To warn and aware people of what might be the possible problem of the
Automatic Floor Cleaning Machine.
 a. Tips of fixing circuits.
b. Different parts and how can they be changed.
4. How do the Electrical Engineers evaluate the proposed system of Automatic
Floor Cleaning Machine?
a. Functionality
b. Maintainability
c. Accuracy
5. How does the CS Experts evaluate the proposed system and codes of
Automatic Floor Cleaning Machine?
a. User-friendliness
b. Usability
c. Accuracy
6. How do the consumers evaluate the proposed
system of “Automatic Floor Cleaning Machine”?
a. User-friendliness
b. Usability
c. Efficiency
7. What will be the different issues that might occur and fixing techniques?
a. System
b. Electric Circuits

HYPOTHESIS
Based on the problems of the study, the null hypothesis was hereby stated and
was tested the level of significance Ho There is no significant relationship between
automatic floor cleaning machine and the functionality, maintainability and accuracy of
the device.
SIGNIFICANCE OF THE STUDY

The purpose of this study is to help people especially with the following
individuals:

Computer Science Experts. This study can help the Computer Science experts to
familiarize the advanced technology since it can improve their skills and knowledge.

Students. This study will be beneficial to students specifically to those students who is
into computer science field or technology field. Students could get an idea on how to
make a robot, how to properly program boards and discuss its process.

Citizens. People will know their possible cleaning time just by using the robot, they
don’t have to get the mop and clean the floors. It will cost them less and their time won’t
be eaten up much.

Future researchers. This study will be beneficial to the future researchers because
they can use the findings of this research project study as basis for their future studies.

SCOPE AND LIMITATION

This Robot functions only as a cleaner, not a vacuum or a pet robot. The study
will only be conducted inside the SCHOOL. Other studies except Robotics and different
kinds of systems are not included in this study.
CONCEPTUAL FRAMEWORK

INPUT PROCESS OUTPUT

•Healthy Lungs •Gathering liable AUTOMATIC

information for FLOOR
codes
CLEANING
•Software
MACHINE

Figure 3.2. Conceptual Framework

Conceptual Framework of the proposed system of the researcher shows the

input, output and process of the proposed system. Input is the Information and Software
Requirements needed to do the designing of the interface, creating codes to get the
output of the said proposed system.
 CHAPTER 2

RELATED REVIEW OF LITERATURE

This chapter consists of information gathered from different studies and literature
of individuals. That will help in giving the reader and the researcher a better
understanding about the website, and how it works.

RELATED LITERATURE

John P. O'Brien and Eric Burbank (2018), invented an autonomous cleaning

robot that can navigate across a floor surface and avoid obstacles while vacuuming the
floor surface to ingest debris from the floor surface. The cleaning robot can include
rollers to pick up the debris from the floor surface. As the cleaning robot moves across
the floor surface, the robot can rotate the rollers, which guide the debris toward a
vacuum airflow generated by the cleaning robot. In this regard, the rollers and the
vacuum airflow can cooperate to allow the robot to ingest debris. During its rotation, the
roller can engage debris that includes hair and other filaments. The filament debris can
become wrapped around the rollers.

As stated by (International Federation of Robots, 2015), a service robots is

defined as a robot which performs certain serviceable works for human beings apart
from industrial automation. They are divided into 2 categories according to the intended
applications

As stated by Raoul J. Chee Kee (2018), Xiaomi — a Chinese mobile phone

brand, which they improved their company by launching a robot vacuum cleaner that
can be controlled remotely via mobile. This technology behind the brand allows users to
manage their Xiaomi branded devices remotely via the downloadable app on the user's
phone. The smart robot vacuum is one of their most popular items because it crawls
back to its dock the moment it requires charging.

Modern households are becoming more automated thereby delivering

convenience and reducing time spent on house chores. While vacuum cleaners have
made home cleaning easier, they are largely noisy and bulky for everyday use. It is
therefore sine qua non to improve the technology of vacuum cleaning to reduce these
deficiencies. Here, we report the development of a compact and efficient vacuum
cleaner robot for potential office and home use. (Afonja, et.al., 2018)

With the advancement of technology, robots are getting more attention of

researchers to make life of mankind comfortable. This paper presents the design,
development and fabrication of prototype Smart Floor Cleaning Robot (CLEAR) using
IEEE Standard 1621 (IEEE Standard for User Interface Elements in Power Control of
Electronic Devices employed in Office/Consumer Environments). Subject robot
operates inautonomous 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. (Baloch,
et.al., 2015)

Manreet Kaur and Preeti Abrol, in the paper “Design and development of floor
cleaning robot” have made the cleaning using automatic and manual modes. They have
used RF modules for wireless communication between remote and robot having range
of 50m. In the automatic mode, robot controls all operations itself and changes the lane
in case of hurdle detection and moves back. In the manual mode keypad is used to
perform the expected task and to operate the robot.

Another paper which was published by Jens Steffen Gutmann, Kristen Culp,
Mario E. Munich and Paolo Pirjanian in the paper “Social impact of a systematic floor
cleaner” explain mint cleaning robot which is an automatic cleaning robot that sweeps
and mops hard surface floors using dusting and moping cloth was developed. It
investigates the product’s social impact with respect to the attitude of customers
towards a systematic floor cleaner and how much a robot influences a lifestyle.
Systematic cleaning was an important feature and modifications to the environment to
support the navigation of the robot. The robot employs a systematic cleaning strategy
that maps the environment using GPS like indoor localization.

Many more systems were proposed and among that is the system proposed by
J.Y. Sung, R.

E. Grinter and H. I. Christensen in “Housewives domestic robot technology

international journal of social robotics”. In this paper a new type of home intelligent
cleaner adopted the ultrasonic and IR sensor array which had the function of real time
environment perception is introduced and the cleaner is driven by step motor has the
ability of autonomous working by itself and the functions of automatic detection and
obstacle avoidance. This paper adopts grid scan algorithm placed on electric map,
realize floor coverage task and designs synthesis detection system based on sensor
array finding method technology according to ––--algorithm characteristics. However,
this system did not support wet detection and it only performed dry cleaning.

In this paper, an autonomous robot for floor cleaning application is proposed. It

can perform sucking and mopping tasks, obstacle detection, and automatic water spray.
Moreover, it is also able to work in manual mode. All hardware and software operations
are controlled by Atmega5260 microcontroller. Therefore, the proposed floor cleaning
robot is to overcome the drawbacks of the existing system.

Bluetooth Technology

Bluetooth technology is one of wireless transference network technology to replace the

cables connecting electronic devices, adapters and exhibits the electronic devices to
communicate wirelessly among each other. Bluetooth RF transceiver operates in the
unlicensed ISM band centered at 2.4 gigahertz and managed using an RF topology.
Bluetooth technology uses the principles of device "inquiry" and "inquiry scan."
Scanning devices listen in on known frequencies for devices that are actively inquiring.
When an inquiry is received, the scanning device sends a response with the information
needed for the inquiring device to determine and display the nature of the device that
has recognized its signal.
 We have contributed to make our project more interested and better than we saw
before. So our contribution is designing Mobile aided Arduinomega2560 based floor
cleaning robot using ultrasonic sensor, a thing which makes us different from above is
we used both android mobile and ultrasonic sensor at a time.

Ziegler, et.al. (2008) smart Floor Cleaning Robot (CLEAR) Floor cleaner is very
much useful in cleaning floors in hospitals, houses, auditorium, shops, computer centers
etc. It is very simple in construction and easy to operate. Anybody can operate this
machine easily. It consist of moisture cotton brush, the brush cleans the floor and dried
with aid of small blower. Hence it is very useful in hospitals, houses, etc. The time taken
for cleaning is very less and the cost is also very less. Maintenance cost is less. Much
type of machines is widely used for this purpose. But they are working under different
principles and the cost is also very high. Good well-maintained entrance matting can
dramatically reduce the need for cleaning. For public and office buildings about 80 to
90% of the dirt is tracked in from outside. Installing a total of 15 feet of matting
consisting of both indoor and outdoor sections will remove about 80% of this. Thus
about two-thirds of the dirt can be removed at the entrance.

The treatment needed for different types of floors is very different. For safety it is
most important to ensure the floor is not left even slightly wet after cleaning or mopping
up. Sawdust is used oxen some floors to absorb any liquids that fall rather than trying to
prevent them being spilt. The sawdust is swept up and replaced each day. This was
common in the past in pubs and is still used in some butchers and fishmongers. It used
to be common to use tea leaves to collect dirt from carpets and remove odors.
Nowadays it is silly quite common to use diatomaceous earth, or in fact any cat litter
type material, to remove infestations from floors. There are also a wide variety of floor
cleaning machines available today such as floor buffers, automatic floor scrubbers and
sweepers, and carpet extractors that can deep clean almost any type of hard floor or
carpeted flooring surface in much less time than it would take using a traditional
cleaning method.
 Deepak, et.al. (2014) The object of the invention is to improve the floor drying
capacity of a movable automatic floor cleaner with integrated fresh liquid section and
soiled liquid section with a fresh liquid line leading from the fresh liquid section to a
liquid dispensing point and a soiled liquid line leading into the

soiled liquid section with a suction nozzle on the floor side. The liquid dispensing
point sprays fresh liquid beneath the automatic floor cleaner and is arranged in front of
the suction nozzle in the direction of movement of the automatic floor cleaner which also
comprises an integrated suction fan connected on the suction side to the soiled liquid
section via a hose and on the exhaust side blows the air taken in through an exhaust air
hose. This is attained in that the exhaust air hose terminates in a nozzle on an air guide
with an exit aperture blowing the exhaust air in the direction towards the floor area
behind the suction nozzle in the direction of travel.

Tzafestas, et.al. (2014) In Traditional, floor is cleaned with the help of dry mop or
wet mop using the hand as a potential tool. They have to scrub hard on the surface. The
cleaning includes cleaning of various surfaces basically cement floors, highly polished
wooden or marble floors. Among these floors the rough surface floor such as cement
floor, mostly present in semi urban areas are covered with so much dust.

Also currently indoor GPS is evolving which uses unsupervised learning and
determining its path in its first run. Since now indoor navigation has not been solved
completely. Also now-a-days complicated artificial intelligence algorithms like
unsupervised and supervised learning, Swarm optimization, ANT algorithm, natural
heuristic search are playing a major role in designing control system of the most of the
mobile robot.
 The body of the robot has many small components. Like all robots it has sensors,
microcontrollers and actuators and other components. It has 2 vacuum pumps
connected in backside as well as front side of the robot. A 300 rpm DC motor is
connected in the middle of the robot with the scrubber. A bearing is attached to the axle
of the scrubber. 2 DC motors of 100 rpm are connected to the wheels. One
microcontroller with 4 ultrasonic sensors is attached to it.

This has 2 bread boards for circuit connection which ultimately can be replaced
after welding. For scrubbing we are using the brushes instead of cloths .The scrubber
rotates at very high speed which performs very good mopping action.

Navigation system of the robot is basically dependent on the sensors and

microcontroller and algorithm fed to it. Basically the data acquisition system (here
sensor) first collects the data from the environment and feeds to microcontroller .The
microcontroller uses 2 algorithms. The 2 algorithms are: spiral motion algorithm and
random straight path.

Basically after sensing the obstacle distance from outside environment, if the
robot has sufficient space on its 4 sides it will move in spiral path at first half of its
running. The spiral path can be anti-clockwise and clockwise .The spiral path can be
generated by the decreasing ratio of left motor encoder and right motor encoder [1].

Basically random straight path searches from one node to another by the help of
natural heuristic search. After the spiral motion the robot if detects a collision then it
follows the edge of the wall until it gets enough free space for spiral motion again. After
some moment if it doesn’t get any specific clear area for spiral motion then it will move
in random path for some time and the obstacle detection and avoidance system will be
carried out by the help of ultrasonic sensors [2]. After that robots stop rotating if the
timer is over. In this process we can divide a particular area in the floor as grids and
move accordingly so that it will have very confine control over the robot. So it will have
grid based search over the floor for movement. [4] Finally, we implemented computer
vision by the help of ultrasonic imaging and analyzing the image for the dust particles by
the help of supervised learning and clustering the data [5]. We have implemented here
A* search algorithm for motion planning [7]. The breadth first search implemented here
is very effective and provides efficient result for moving.

Kaviya, et.al. (2014) Environment such as office cleaning, robots will save the
cost of manual labor that is estimated at 5 USD per hour. Floor Botics has developed
the robotic technology for these market segments with an optimum balance of
functionality, ease-of-use, performance, and cost. They can clean floors, mow lawns
and guard homes and will also assist old and handicapped people, do some surgeries,
inspect pipes and sites that are hazardous to people, fight fires and defuse bombs.
Residential robots are quite different from industrial robots because of nonprofessional
users. It needs high reliability and safety. Cleaning robots are getting more popular for
aging populations, it is necessary to design ‘really autonomous’ robots, easy to stagnate
or stasis are not allowable, especially for old users. ‘A robot in every home?’ reported by
Science News in 2004, ‘In the home, by the end of 2003, about 610,000 autonomous
vacuum cleaners and lawn-mowers were in operation, the report says. Between 2004
and 2007, more than 4 million new units could be added, it adds.’ New market induced
companies devoted to new and functional robots design to get higher market share. In
technical development of varieties and advanced robots, one can find hundreds of
papers. Many advanced robots have powerful functions but still a big gap to
commercialization. This paper analyzed commercial robots by US granted patents,
companies always file patent in advance for their commercial products, granted patents
are also a powerful weapon to stop competitors enter their claim technology under its
exclusive rights.
 Kapilan, et.al. (2014) Automatic machines available in the market are of high
ranges. So, keeping the focus on cost factor, they are not affordable to all. The
organization committee of hostels, hospitals, hotels can’t afford these costs. Hence,
there is need to develop floor cleaning machine which is cost effective using renewable
sources.

In crowdie places such as railway stations floors are not regularly cleaned due to
hectic work of sweepers and non-availability of machines because of this,

hygienic environment is not maintained. In India, especially in summer there is

power crisis, in majority of places. Hence floor cleaning using floor cleaning machine is
difficult without electricity. To overcome this problem, an alternative is made by using
solar energy. Considering assembly, weight, handling design machine is flexible.
Provision is made for water spraying. Main mottos of research are: to reduce the human
effort and cost and to make the environment sanitary.

Gutmann, et.al. (2014) Manual work is taken over the robot technology and many
of the related robot appliances are being used extensively also. Here represents the
technology that proposed the working of robot for Floor cleaning. This floor cleaner
robot can work in any of two modes i.e. “Automatic and Manual”. All hardware and
software operations are controlled by AT89S52 microcontroller. This robot can perform
sweeping and mopping task. RF modules have been used for wireless communication
between remote (manual mode) and robot and having range 50m. This robot is
incorporated with IR sensor for obstacle detection and automatic water sprayer pump.
Four motors are used, two for cleaning, one for water pump and one for wheels. Dual
relay circuit used to drive the motors one for water pump and another for cleaner. In
previous work, there was no automatic water sprayer used and works only in automatic
mode. In the automatic mode robot control all the operations itself and change the lane
in case of hurdle detection and moves back. In the manual mode, the keypad is used to
perform the expected task and to operate robot. In manual mode, RF module has been
used to transmit and receive the information between remote and robot and display the
information related to the hurdle detection on LCD. The whole circuitry is connected with
12V battery.

Robot is an electromechanical machine and used for various purposes in

industrial and domestic applications. Robot appliances are entering in the consumer
market, since the introduction of robots. Many related appliances from various
companies have been followed. Initially the main focus was on having a

cleaning device. As the time pass on many improvements were made and more
efficient appliances were developed.

In early, 2010 a new automatic floor cleaner robot “Mint” was developed by Jen
Steffen. Detachable clothes were attached for sweeping and mopping purposes. For
tracking mint used the GPS-like indoor localization system.

In this research work a floor cleaner robot based on AT89S52 have been
developed. This cleaner robot is an electric home appliance, which works in two modes
as per the user convenience “Automatic and Manual”. Unlike other floor cleaner robots
this is not a vacuum cleaner robot; it performs sweeping and mopping operation.
Detachable mop is used for mopping. It works on 12V supply. In the automatic mode,
robot performs all operations itself. Firstly robot starts it moves forward and perform
cleaning action. For obstacle detection and to avoid hurdle IR sensors have been used.
If any hurdle detected then robot change the lane automatically, does not stop and
starts cleaning action. It follows zigzag path. To make whole system wireless, RF
modules have been used in automatic and manual with 50m range. For user
convenience automatic water sprayer is attached which automatically spray water for
mopping, therefore no need to attach wet cloth again and again for mopping. Motor
driver circuit have been used to drive the motors. Four motors have been used to
perform respected operations like to move the robot, for water pump, for cleaner.
Relays have been used to drive the water pump and cleaner motor. LM293D IC has
been used to drive wheel motor. All the information displayed on LCD.

In the manual mode, user itself operates the robot. RF module have been used
to transmit and receive the signal to operate the robot through remote. In the manual
mode, if any hurdle detected, then signal of hurdle detection displayed on the LCD of
remote via RF module.

In this paper, the mint cleaning robot which is an automatic cleaning robot that
sweeps and mops hard–surface floors using dusting and mopping clothes was
developed. It investigates the product’s social impact with respect to the attitude of the
customers towards a systematic floor cleaner and how such a robot influences their
lifestyle. Systematic cleaning was an important feature, and modifications to the
environment to support the navigation of robot. The robot employs a systematic
cleaning strategy that maps the environment using a GPS- like indoor localization.

LOCAL LITERATURE

Foldi Mate offers a developed robot whose sole purpose is to fold laundry. Its a
robot laundry folder that could go through a full load of laundry and fold every piece in a
few minutes. The claim of convenience may sound too good to be true and it could be
because there’s a catch: a dedicated human still needs to feed the robot the clothes to
fold. Perhaps future artificial intelligence advances could make this robot smart enough
to sort and fold laundry. The laundry folder also takes up as much space as a washing
machine. (Alfred Bayle, 2018)

As described by (Bergerman, M , 2015), robotics in agriculture is plays a very

vital role in this world of increasing human population at a rapid rate. As he also
describes that the predictions for the need of food by 2050 will be double the amount of
food being produced right now. For the purpose of meeting this high demand and to
avoid human deaths due to hunger, the need of robotics in agriculture is needed more
than ever.

According to Mr. Charles, We studied people’s perception of the robot and how it
evolved over time, kept track of daily routines, the usage patterns of cleaning tools, and
social activities related to the robot. We integrated our results in an existing framework
for domestic robot adoption and outlined similarities and differences to it. Finally, we
identified several factors that promote or hinder the process of adopting a domestic
service robot and make suggestions to further improve human-robot interactions and
the design of functional home robots toward long-term acceptance.

Telepresence robots is an emerging field of telerobotics and has a wide range of

promising applications. This technology incorporates techniques to virtually enable
individuals be present at any location through wireless connection, promoting social
interactions among people. (Bugtai, et. al., 2016

As stated by (PIA, 2018) The Philippines should not be afraid to embrace both
innovation and automation in the face of the Fourth Industrial Revolution (FIRE). Citing
a 2015 study by the McKinsey Global Institute, Sawada explained that FIRE
Technologies, such as artificial intelligence and robotics may even help the Philippines
boost its annual productivity growth by as much as 1.5 percent.

This research facilitates efficient floor cleaning with sweeping and mopping
operations. This robot works in two modes automatic and manual for user convenience.
This proposed work provides the hurdle detection in case of any obstacle that comes in
its way. The obstacle detection range is 1ft. RF modules provide wireless
communication between remote and robot and their range is 50m. If there is hurdle in
the way of robot, it sends the information to the remote which gets displayed on the
LCD. An automatic water sprayer is attached which sprays water for mopping purpose
for the convenience of user. User can also operate this robot manually with the help of
remote. It reduces the labor cost and saves time also and provides efficient cleaning. In
automatic mode, the robot operates autonomously. The operations such as sweeping,
mopping and changing the path in case of hurdle are performed automatically.

Nonetheless, there are still new ideas to improve the developed system and to add new
functionality to it. Instead of RF module, Xbee pro series module can be used to
improve the range of wireless communication. GSM module can be used to send
message that, the robot has done the cleaning task. Camera can be used for navigation
purposes. Vacuum cleaning can also be done with sweeping and mopping. Further, the
robot can be made to move randomly in any direction and its speed can be controlled.

Tresanchez et.al. (2015) Automatic floor cleaner is a system that enables cleaning of
the floor by the help of highly stabilized and rapidly

functionalized electronic and mechanical control system. Current project work targets to
use automatic floor cleaner for large floor in house-hold purposes and office floors. The
cleaning purpose is specifically carried out by continuous relative motion between a
scrubber and the floor surface. During the cleaning and moving operation of vehicle a
propulsion mechanism such as driven wheels and guide wheels for the dry tracking on
the floor surface to be cleaned, suction of water is carried out by vacuum pump,
scrubbing action is done by the scrubber directing water towards rear end. Preferably, a
sweeper mechanism is mounted on the body forwarded by propulsion mechanism and
operated with such control system for advance sweeping of a debris-laden floor surface.
A PID controller is used to govern the motion of system which takes the input from
sensor circuit and feeds it back to microcontroller which gives rise to the simulation of
wheel in a synchronized manner. The new automatic floor cleaner will save huge cost of
labor in future. The basic advantage of this product is that it will be cost effective and no
human control is needed. Once put in on mode it will clean the whole room without any
omission of surface.

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.

Wooden flooring is treated differently depending on which type of coating it has,

whether waxed or oiled, or whether it has a polyurethane coating. The very important
thing in case of this it. Simple cleaning instructions type of floor is

which type of coating it is having and find out the proper way of cleaning followed are
the floor should be cleared of all the furniture those are easy to move. All lose debris
particles are to be swept or vacuum cleaned. The floor is mopped going along grains. If
the floors are polyurethane, the mop has to be dipped with water and a few drops of
dishwashing liquid. The mop should be ringed out thoroughly before it is used on the
floor. The floor is to be buffed using a soft fabric to remove soapy dirt. The softer the
cloth, the better it works because they have good absorbent capacity.
Floor cleaning is achieved by different technique which might be of different kinds.
Different types of floor need different type of treatment. The floor should be totally dry
after the cleaning process. Otherwise it may result in hazard. On some floors sawdust is
used to absorb all kinds of liquids. This ensures that there will no need of preventing
them from spill of. The sawdust has to be swept and replaced every day. This process
is still used in butchers but it was common in bars in the past. In some places tea leaves
are also used to collect dirt from carpets and also for odor removing purposes. Different
types of floor cleaning machines are available today such as floor buffers, automatic
floor scrubbers and extractors that can clean almost all types of hard floors or carpeted
flooring surfaces in very less time than it would have taken using traditional cleaning
methods. Again the cleaning would be different for different floorings.

Modern houses are equipped with tiles, marble flooring that can be cleaned easily. Few
specific ways are: (1) debris particles are to be removed using vacuum cleaner or else
broom, (2) floor cleaning solution should be used for appropriate floors. If it is stone
surface, it should be cleaned using solutions for stones only. For ceramic floors acidic
tile cleaning agent is to be used, (3) a mop or scrubber is used to scrub and clean the
floor.

Basically, the Indian floors are cleaned by rubbing the floor with a hard cloth or plastic
like material called scrubber or mop. Hence design of scrubber is an important task
while cleaning Indian floors. The motion of scrubber on the surface may be rotatory or
harmonic depending upon the type of material used or surface to be cleaned. Normally
hard material like heavy cloths are used for making the scrubber. The basic purpose of
the scrubber is to clean the surface completely and also soak the water or liquid used
for cleaning the surface. In our case we have used a scrubber that is made up of a cloth
wounded over a metallic bar (cylindrical rod). The additional purpose of the scrubber is
to make proper flow of dirt water towards the direction needed. In some cases a single
spot is to be scrubbed more than once. For this purpose harmonic motion is used which
enable better removal of debris. But in our case the purpose is to clean household
flooring so relative rotation of scrubber is made to achieve required purpose.

Traditionally floor is cleaned by hand using different handmade instruments. Initially it

was being washed by different reed brushes. According to Egyptian houses were built
of sun-dried mud bricks at times white-washed and the floors were stamped earth. The
floor of the outdoor kitchen too was simply the ground baked stone hard by the sun.
Unless it was raining, which happened only rarely, these floors were easy to keep clean
by sweeping. Like most ancient Egyptian tools, these brushes did not have long handles
which would have rendered their use less irksome, and required bending low when
employing them.

For the ease of human beings different designs of brushes are evolved. Again during
the age of monarchs carpets of different designs are utilized to cover the floor to keep it
clean. As the time passed new scientific era begins a lot of new methods are used to
clean the floor. The first among those

was the reciprocating action of brush actuated by muscular force. The brush design is
changed time to time depending upon the floor structure and ease of washing
personnel. As the electricity came into role vacuum cleaner are invented to clean a dry
surface. Moving forward different floor cleaning machines are being invented to clean
the floor with less application of muscular power. Then came the concept of mobile
robot. Mobile robots have the capability to move around in their environment and are
not fixed to one physical location. By contrast, industrial robots are usually more-or-less
stationary, consisting of a jointed arm (multi-linked manipulator) and gripper assembly
(or end effector), attached to a fixed surface. For automatic motion of the cleaner mobile
robotics is used.

Mobile robots are a major focus of current research and almost every major university
has one or more labs that focus on mobile robot research. Mobile robots are also found
in industrial, military and security settings. Domestic robots are consumer products,
including entertainment robots and those that perform certain household tasks such as
vacuuming or gardening. From then on more sophisticated robot is designed for
household equipment for automating the tasks including washing machine, micro
woven. After that only the revolution of mobile robotics came to household usages.

The problem with current automatic floor cleaning machines are they are only used in
households for only dry and wet cleaning but not as infection remover. So it is only used
in households and not in hospitals or small areas in public. The automatic floor mops
like hydrobot are bulky and they also require large power and are used for commercial
purpose. But we think this (Our cleaner) will solve all in one go… We will basically focus
on a smart and smaller and good designed robot which can be used in many sectors
like healthcare and educational areas (which are of course small areas) and also for
household use.

So it will be both for terminal cleaning like medicals and indoor floor cleaning.in future
we will focus on indoor air cleaning service as an additional feature to this machine.
Jones, et.al. (2017) Robotic research due to their effectiveness in assisting humans in
floor cleaning applications at homes, hotels, restaurants, offices, hospitals, workshops
etc. Basically, robotic cleaner are distinguished on their cleaning expertise like floor
mapping, dry vacuum cleaning etc. Each cleaning and operating mechanism of robotic
floor cleaners has its own advantages and disadvantages. In this work, "Automatic Floor
Cleaner" have been designed for offices, homes also in collages. In one of the mode
this robot is fully automatic and making decisions on the basis of humans or various
sensors which are used in this cleaning robot. These sensors are controlled by Arduino
controller also controls the DC motors with the help of driving circuitry. In manual mode,
the robot can also be used to clean specific area of a room. The mechanical design of
robot including vacuum cleaning mechanism, phenol tank, DC fan, pick and place etc.
The main objective of this project is to provide a substantial solution to the problem of
manufacturing robotic cleaner utilizing local resources while keeping it low costs.

Chopade, et.al. (2017). Traditionally, floor is cleaned by hand using different handmade
instruments. Initially it was being washed by different reed brushes. According to
Egyptian houses were built of sun-dried mud bricks at times white-washed and the
floors were stamped earth. The floor of the outdoor kitchen too was simply the ground
baked stone hard by the sun. Unless it was raining, which happened only rarely, these
floors were easy to keep clean by sweeping. Like most ancient Egyptian tools, these
brushes did not have long handles which would have rendered their use less irksome,
and required bending low when employing them.

For the ease of human beings different designs of brushes are evolved. Again during
the age of monarchs carpets of different designs are utilized to cover the floor to keep it
clean. As the time passed new scientific era begins a lot of new methods are used to
clean the floor. The first among those was the reciprocating action of brush actuated by
muscular force. Before vacuum cleaners existed, people had to take their carpets
outside and beat the dirt out of them. Some people cleaned their carpets only once a
year during the spring.

Manual work is taken over the robot technology and many of the related robot
appliances are being used extensively also. Here represents the technology that
proposed the working of robot for Floor cleaning. This floor cleaner robot can work in
any of two modes i.e. Automatic and Manual. RF modules have been used for wireless
communication between remote and robot. This robot is incorporated with IR sensor for
obstacle detection.

Krehbiel, et.al. (1982) the mop is a patented invention that is part of social history as
well as the evolution of house wares. Thomas W. Steward, an African- American
inventor, was awarded Patent Number 499,402 on June 13, 1893, for inventing the
mop. His creation joined a long list of household equipment invented by African-
Americans. The roster includes the eggbeater, yarn holder, ironing board, and bread-
kneading machine. Steward's deck mop, made of yarn, quickly became well used for
household and industrial cleaning. A wringing mechanism made the process of mopping
and cleaning the mop easier and faster.

Another pair of inventors, brothers Peter and Thomas Vosbikian, fled Europe just before
World War I and patented over 10 in 30 years. In 1950, Peter Vosbikian developed a
sponge mop that used a lever and flat strip of metal to press against the wet mop and
squeeze it dry. This automatic mop eliminated the need to bend over and wring the mop
repeatedly by hand. Its development
was aided by the many technological improvements in the plastics industry that grew
out of World War II and made absorbent plastic mop heads possible. Other
modifications have made mops even more adaptable to different cleaning chores. In
1999, Scotch Brite released a new wet mop made of natural cellulose and
reinforced with internal polyester net. The cellulose does not leave lint like a cloth mop
and absorbs 17 times its dry weight.
 CHAPTER 3

METHODOLOGY

The methodology part is used to define about how the project should be
developed and finalized. Therefore, the steps to conduct the development of this project
are divided into three phases that has shown in the figure given below. In first phase,
the project workflow involve literature review which related in floor cleaning robot
system that conducted by previous researchers and projects. The next phase
introduces the propose design that involve hardware and software implementation in
this project. Finally, integrate the system, testing system and finalize the documentation.

RESEARCH DESIGN

Research design states that the method of research used by the researchers in
their study, the respondents of it, the tools they needed to, and the system design of the
website.

1. Method of Research Used

Methods of research used to tell about the methods used by the researchers. To
achieve the accuracy of this research the researchers used the Library Method, Internet
Method, and the Descriptive Method.

Library Research Method

It is a method that includes searching in the library and reading some books to
get valid and verifiable source on the researches proposed website.

Internet Method

A method that includes surfing in the net to find more accurate and
knowledgeable information about on any studies of website that used by the
researchers.
Descriptive Method

It is the method used by the researchers to describe data and characteristics of

the website that is being proposed.

RESPONDENTS OF THE STUDY

Since the robot can be used by anyone, the researchers preferred 5 sample
population which consist of 5 respondents from senior high and college, 5 CS students
and 5 SHS CS Students. Researchers also includes Computer science experts.

DATA GATHERING TOOLS

Data gathering is the most crucial of this study, it tells the tools used by the
researchers. To know the ways that they have used to conduct their research, it
includes the Interview, Observation, Survey and etc. but in this study the researchers
only used the Questionnaire Tools.

QUESTIONNAIRE TOOLS

The researchers used the questionnaire tools which include an instrument which
include a series of questions for the respondents for the purpose of gathering data and
includes professionals to make the robot work accurately and precisely.
Tools used in the Analysis

1. System Flow Chart

Battery

Arduino
L298Driver N Wheels

Arduino

Sensor Servo Motor

Figure 3.1. System Flow Chart of the robot

SYSTEM DESIGN

System Design tackles about the development of the system, the analytical used
in the system and the methods used for evaluation in the proposed system by the
researchers.

1. Planning – this is the first phase in creating the robot. The

study uses Kinect, modern and depth detectable photography equipment to detect
objects on the ground and above the ground. The data collected is used to construct a
model on ground level, that is, used lead automatic guiding vehicle. This is the first
phase in creating the robot. The researchers planned the system development by the
process of creating or altering the system of the robot. This robot is an integrated
system that can automatically clean the floor.
REFERENCES

[1] Manreet Kaur and Preeti Abrol “Design and development of floor cleaner robot
(Automatic and manual)”, International Journal of Computer Application, published
in July 2014.

[2] Jens Steffen Gutmann, Kristen Culp, Mario E. Munich and Paolo Pirjanian
“Social impact of a systematic floor cleaner” IEEE International Workshop on Advanced
Robotics and Its Social Impact, published in May 2012.

[3] J.Y. Sung, R. E. Grinter and H. I. Christensen in “Housewives domestic robot

technology international journal of social robotics” IEEE International Conference on
Human Robot Interaction, July 2012.

[4] Ajith Thomas, Rohith M.S, Febin Jolly, Jeeson Cheriyan, Ms.Renu Mary George,
“ AnAdvanced Mobile Robot for Floor Cleaning” , International Journal of Advanced
Research in Electrical, Electronics and Instrumentation.

[5] https://en.wikipedia.org/wiki/HC-05 Bluetooth Module Accessed 25 May 2018.