Solar Floor Cleaning - Final Report

A
Report
on
SOLAR FLOOR CLEANING ROBOT
Submitted by
Mr. SAMEER ATHAWALE
PRN: 1930331372096
Ms. ADITI WAGHMARE
PRN: 1930331372117
Under the guidance of
PROF. MOHINI R. MEHTA
Department of Electronics & Telecommunication Engineering

Dr.BabasahebAmbedkar Technological University, Lonere.
Lonere-402103
2022 -2023
CERTIFICATE
This is to certify that the Project entitled “SOLAR FLOOR

CLEANING ROBOT” submitted by Mr. SAMEER ATHAWALE
(PRN: 1930331372096) and Ms. ADITI WAGHMARE (PRN:
1930331372117) is record of bonafide work carried out by them under
my guidance in the partial fulfilment the requirement for the award of
Degree of B.Tech. in Electronics and Telecommunication Engineering
course of Dr.Babasaheb Ambedkar Technological University, Lonere
(Dist. Raigad) in the academic year 2022-2023.
Prof. Mohini R. Mehta Prof. S. L. NALBALWAR

Project Guide Head of Department
Electronics and Telecommunication Engineering

Dr.BabasahebAmbedkarTechnological
University
Lonere-Raigad 402103
External Examiner
1. …………………………
2. ……………………........
DATE:
PLACE: Lonere, Raigad (402103)
Abstract
Households of today are becoming smarter and more automated. Home automation delivers
convenience and creates more time for people. Domestic robots are entering the homes and
people’s daily lives, but it is yet a relatively new and immature market. However, a growth is
predicted and the adoption of domestic robots is evolving. The purpose of this project is to design
and implement a Vacuum Robot Autonomous. Solar Floor Cleaner Robot is designed to make
cleaning process become easier rather than by using manual vacuum. The main objective of this
project is to design and implement a solar floor cleaning robot prototype. Floor Cleaning Robot
will have several criteria that are user friendly.
INDEX (Following content are only for sample purpose)
Sr. No. Title Page No.
• LIST OF FIGURES I
• LIST OF TABLES II
• LIST OF ABBRIVESATIONS III
CHAPTER 1 INTRODUCTION 1
1.1 Introduction 1
1.2 Problem Statement 2
1.3 Objectives 2
CHAPTER 2 LITEATURE REVIEW 7
CHAPTER 3 SYSTEM DESIGN 8

3.1 Block Diagram 8
3.2 Description of System 9
CHAPTER 4 METHODOLOGY 10
4.1 Methodology 10
CHAPTER 5 FLOW CHART OF SYSTEM 17

5.1 Flow Chart 18
CHAPTER 6 SYSTEM REQUIREMENT 21

6.1 Software 21
6.2 Hardware
CHAPTER 7 RESULT AND DISCUSSION 23
CHAPTER 8 CONCLUSION AND FUTURE WORK 26

8.1 Conclusion 26
8.2 Future Work 26
• REFERENCES 27
• PUBLICATION 29
LIST OF FIGURES
FIGURE TITLE OF FIGURE PAGE NO.

NO.
Fig 01 Block Diagram of Proposed System 07
Fig 02 Flowchart of Proposed System 10
Fig 03 Atmega 328 12
Fig 04 LCD Display 12
Fig 05 LCD 14
Fig 06 Infrared Sensor 15
Fig 07 Infrared Sensor Circuit Diagram 18
Fig 08 Fig: Power supply 19
Fig 09 Rectifier 20
Fig 10 Bridge Rectifier 21
Fig 11 Voltage Regulator 22
Fig 12 Relay Circuit 23
Fig 13 USB cable 25
I
LIST OF TABLES
TABLE TITLE OF TABLE PAGE NO.

NO.
Tab 2.1 7
Tab 4.1 12
Tab 4.2 12
Tab 7.1 25
II
LIST OF ABBREVATIONS
LCD Liquid Crystal Display
IR Sensor Infrared Sensor
DCMotor Direct Current Motor
USB Universal Serial Bus
III
A Project Report on “Solar Floor Cleaning Robot”
CHAPTER 1
INTRODUCTION
1.1 INTRODUCTION
In the recent years, robots have been used for various cleaning purposes. Robots have various
cleaning expertise like mopping, picking up the waste, wet floor cleaning, dry vacuum
cleaning etc., Depending on the cleaning mechanism, these robots may have some
advantages and disadvantages.
Smart floor cleaning robot has been designed for home and office environments. This robot
will be using water storage with anti-infection solution which is pumped with water pump
motor. This robot on receiving the commands from the android device cleans a area using a
cleaning pad by spraying water on the floor. After cleaning the wet floor, it can drain the
dirty water into the required container as per the commands given to it. The robotic arm is
used for efficient and effective wet floor cleaning purpose. This system can also be used to
pick up the objects and carry them within the Bluetooth range. The proposed system is a
manual system because it is controlled by android application which is operated by human.
The proposed system functioning is entirely depended on the commands that are received
from the android app.
Cleaning machine is very much useful in cleaning floors and outside ground in hospitals,
houses, auditorium, shops, bus stands and public place etc. In modern days, interior as well
as outside cleaning are becoming an important role in our life. Cleaning of waste is a very
important one for our health and reduces the man power requirement. Many of floor cleaning
machines are available but we developed machine is very simple in construction and easy to
operate. Anybody can operate this machine easily. Hence it is very useful in hospitals, any
large area space. 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. In our
project we have made the machine to operate in a fully mechanical way with a little amount
of electrical components. The Floor cleaner is of very simple construction and is very easy to
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DR.BABASAHEB AMBEDKAR TECHNOLOGICAL UNIVERSITY
Department Of Electronics & Telecommunication Engineering
Lonere-Raigad (402103)
operate; anyone can operate it without any prior training of any sorts with safety. It is very
important one in any hospitals, hotels, bus stands etc.
In recent years, conventional floor cleaning machines are most widely used in airports,
railway stations, malls, hospitals and in many commercial places, as cleaning is one of the
important parameter for the sanitation and government regulations. For maintaining such
places, cleaning the floor is the major task which is necessary. There are conventional floor
cleaning machines available to perform floor cleaning operations in above said places.
Generally, a conventional floor cleaning machines requires electrical energy for its operation.
In India, especially in summer there is power crisis, in majority of places. Hence cleaning the
floor using the conventional floor cleaning machines is difficult without electricity. In this
project, an effort has been made to develop a manually operated floor cleaning machine so
that it can be an alternative for conventional floor cleaning machines during power crisis.
1.2 Problem Statement:

To design and implement a Vacuum Robot Autonomous and Manual via Phone Application.
Vacuum Cleaner Robot is designed to make cleaning process become easier rather than by
using manual vacuum.
1.3 Objectives:
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 design a floor cleaning robot without
human to the driving. Mainly it is used when obstacles are less and large area is required to
be clean. Mostly problem occurs during large floor that the human capability. Its means that
in large floor areas the human can get tired. In areas like 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 places.
There are many features are added in this project like vacuum cleaner in front side and a
wiper motor and water pump in middle for tightly wet cleaning of floor. Vacuum cleaner
suck solid particle and clean floor after that wiper make tightly cleaning.
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1.4 Scope of Project

The scope of this project is to develop an automatic device that can work of sweeping floor
without need of personnel 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 were threat of dangerous gasses
presence.
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CHAPTER 2
LITERATURE REVIEW
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 bag less dirt container with auto-dirt
disposal mechanism. This robot (CLEAR) is specially made on the basis of modern
technology. CLEAR has all the features which are required for a vacuum cleaner. It can work
automatically and manually. It has the feature of the scheduling and it can auto drain itself.
CLEAR has many competitors who are selling same product in high prices. [1]
The floor 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. 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. [2]
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.
[3]
Presents Indoor Applications. Households of today are becoming smarter and more
automated. Home automation delivers convenience and creates more time for people.
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Domestic robots are entering the homes and people’s daily lives, but it is yet a relatively new
and immature market. However, a growth is predicted and the adoption of domestic robots is
evolving. Several robotic floor cleaners are available on the market but only few ones
implement wet cleaning of floors. The purpose of this project is to design and develop
Robotic Floor Cleaner. Vacuum Cleaner Robot is designed to make cleaning process become
easier rather than by using manual vacuum. The project aimed to design and implement of
semi-automatic robotic floor cleaner with obstacle avoidance and wet cleaning attachment.
[4]
Presents a comprehensive overview of the technological advantages helped in the real life
various. For the convenience of most of the people who are extremely busy in there chores.
The need of the project has come up because of a busy schedule of a working in a corporate
sector. So this has resulted in coming up with an objective of making an automated vacuum
cleaner. The study comprehends of automated vacuum cleaner which having components to
DC motor operated wheels, roller brush, cleaning mop, the garbage container and obstacle
avoidance sensor. A 12V rechargeable battery is used as power supply. Other than this is
compresses of special technique of UV germicidal cleaning technology. The study has been
done keeping in mind economic cost of product. [5]
Presents the operating room cleaning robot provided with ‘Manual’ and ‘Automatic’ control
is used for operating room cleaning purposes. The cleaning procedure comprises of vacuum
suction of dust, disinfecting the area followed by mopping. The cleaning is done for both
horizontal and vertical surfaces of the operating room. This battery driven robot has the
capability to store the overall dimensions of the operating room along with the predetermined
path that it is being trained off to follow during the cleaning process. It can be manually
controlled using the remote control in order to have some specific function done apart from
the normal trained cleaning. It is equipped with ultrasonic sensor for obstacle detection thus
do not cause harm to any objects or persons around [6].
The operating room cleaning robot provided with ‘Manual’ and ‘Automatic’ control is used
for operating room cleaning purposes. The cleaning procedure comprises of vacuum suction
of dust, disinfecting the area followed by mopping. The cleaning is done for both horizontal
5
and vertical surfaces of the operating room. This battery driven robot has the capability to
store the overall dimensions of the operating room along with the predetermined path that it
is being trained off to follow during the cleaning process. It can be manually controlled using
the remote control in order to have some specific function done apart from the normal trained
cleaning. It is equipped with ultrasonic sensor for obstacle detection thus do not cause harm
to any objects or persons around [7].
The design, development and fabrication of prototype automatic floor cleaner. This robot
operates autonomous mode with additional features like dirt container with air vacuum
mechanism and pick and place mechanism. This work is very useful in improving life style
of mankind. 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. 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 [8].
A small robotic device which can clean any table surface easily without any help from the
user. The device can able to work in two different modes. It can be controlled by using sound
and by using a mobile phone. This device consist of a chassis in which four motor wheels are
connected. And each motor wheel is connected to a microcontroller which helps the device to
move around the surface. At-mega 8development board is used to control the device.
Another circuit board is used to include the necessary components used to control the device
with the help of mobile phones. It can be also controlled with the help of a sound sensor
which is connected to the microcontroller [9].
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CHAPTER 3
SYSTEM DESIGN
3.1 Block Diagram:
Fig 1: Block Diagram of Proposed System
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3.2 Description of System:
• This block diagram consists of 12v DC motor, L293D IC, IR Sensor, Bluetooth
module, Solar Panel, 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 an
obstacle using buzzer.
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CHAPTER 4
METHODOLOGY
This block diagram consists of 12v DC motor, L293D IC, IR Sensor, Bluetooth module,
solar panel, cleaning mechanism and Atmega. The power supply is given to the Atmega
328p 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 an obstacle using buzzer.
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CHAPTER 5
FLOWCHART OF THE SYSTEM
5.1 FLOWCHART OF THE SYSTEM
Fig. Flowchart of Proposed System
As shown in above fig. firstly we will give commands to robot for cleaning surface, then it
will detect obstacle. If obstacle not detected robot will move forward to clean surface. If
obstacle detected, robot will change direction by 900 and then will move forward to clean
surface.
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CHAPTER 6
SYSTEM REQUIREMENTS
6.1 HARDWARE REQUIREMENTS
• Arduino UNO (ATMEGA 328)
• Bluetooth Module
• Solar Panel
• IR Sensor
• Motor Drivers
• Relay
• Power Supply
• Robotic Arm For Cleaning
ATMEGA 328:
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.
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LCD DISPLAY
The term LCD stands for liquid crystal display. It is one kind of electronic display module
used in an extensive range of applications like various circuits & devices like mobile phones,
calculators, computers, TV sets, etc. These displays are mainly preferred for multi-
segment light-emitting diodes and seven segments. The main benefits of using this module
are inexpensive; simply programmable, animations, and there are no limitations for
displaying custom characters, special and even animations, etc.
16X2 LCD
LCD 16×2 Pin Diagram
The 16×2 LCD pinout is shown below.
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• Pin1 (Ground/Source Pin): This is a GND pin of display, used to connect the GND
terminal of the microcontroller unit or power source.
• Pin2 (VCC/Source Pin): This is the voltage supply pin of the display, used to connect the
supply pin of the power source.
• Pin3 (V0/VEE/Control Pin): This pin regulates the difference of the display, used to
connect a changeable POT that can supply 0 to 5V.
• Pin4 (Register Select/Control Pin): This pin toggles among command or data register,
used to connect a microcontroller unit pin and obtains either 0 or 1(0 = data mode, and 1 =
command mode).
• Pin5 (Read/Write/Control Pin): This pin toggles the display among the read or writes
operation, and it is connected to a microcontroller unit pin to get either 0 or 1 (0 = Write
Operation, and 1 = Read Operation).
• Pin 6 (Enable/Control Pin): This pin should be held high to execute Read/Write process,
and it is connected to the microcontroller unit & constantly held high.
• Pins 7-14 (Data Pins): These pins are used to send data to the display. These pins are
connected in two-wire modes like 4-wire mode and 8-wire mode. In 4-wire mode, only
four pins are connected to the microcontroller unit like 0 to 3, whereas in 8-wire mode, 8-
pins are connected to microcontroller unit like 0 to 7.
• Pin15 (+ve pin of the LED): This pin is connected to +5V
• Pin 16 (-ve pin of the LED): This pin is connected to GND.
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LCD-16×2-pin-diagram
Features of LCD16x2
The features of this LCD mainly include the following.
• The operating voltage of this LCD is 4.7V-5.3V

• It includes two rows where each row can produce 16-characters.
• The utilization of current is 1mA with no backlight
• Every character can be built with a 5×8 pixel box
• The alphanumeric LCDs alphabets & numbers
• Is display can work on two modes like 4-bit & 8-bit
• These are obtainable in Blue & Green Backlight
• It displays a few custom generated characters
IR SENSOR:
IR technology is used in daily life and also in industries for different purposes. For example,
TVs use an IR sensor to understand the signals which are transmitted from a remote control.
The main benefits of IR sensors are low power usage, their simple design & their convenient
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features. IR signals are not noticeable by the human eye. The IR radiation in
the electromagnetic spectrum can be found in the regions of the visible & microwave.
Usually, the wavelengths of these waves range from 0.7 µm 5 to 1000µm. The IR spectrum
can be divided into three regions like near-infrared, mid, and far-infrared. The near IR
region’s wavelength ranges from 0.75 – 3µm, the mid-infrared region’s wavelength ranges
from 3 to 6µm & the far IR region’s infrared radiation’s wavelength is higher than 6µm.
What is an IR Sensor/Infrared Sensor?
An infrared sensor is an electronic device, that emits in order to sense some aspects of the
surroundings. An IR sensor can measure the heat of an object as well as detects the motion.
These types of sensors measure only infrared radiation, rather than emitting it that is called
a passive IR sensor. Usually, in the infrared spectrum, all the objects radiate some form of
thermal radiation.
Infrared Sensor
These types of radiations are invisible to our eyes, which can be detected by an infrared
sensor. The emitter is simply an IR LED (Light Emitting Diode) and the detector is simply an
IR photodiode that is sensitive to IR light of the same wavelength as that emitted by the IR
LED. When IR light falls on the photodiode, the resistances and the output voltages will
change in proportion to the magnitude of the IR light received.
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Working Principle
The working principle of an infrared sensor is similar to the object detection sensor. This
sensor includes an IR LED & an IR Photodiode, so by combining these two can be formed as
a photo-coupler otherwise opto coupler. The physics laws used in this sensor are planks
radiation, Stephan Boltzmann & weins displacement.
IR LED is one kind of transmitter that emits IR radiations. This LED looks similar to a
standard LED and the radiation which is generated by this is not visible to the human eye.
Infrared receivers mainly detect the radiation using an infrared transmitter. These infrared
receivers are available in photodiodes form. IR Photodiodes are dissimilar as compared with
usual photodiodes because they detect simply IR radiation. Different kinds of infrared
receivers mainly exist depending on the voltage, wavelength, package, etc.
Once it is used as the combination of an IR transmitter & receiver, then the receiver’s
wavelength must equal the transmitter. Here, the transmitter is IR LED whereas the receiver
is IR photodiode. The infrared photodiode is responsive to the infrared light that is generated
through an infrared LED. The resistance of photo-diode & the change in output voltage is in
proportion to the infrared light obtained. This is the IR sensor’s fundamental working
principle.
Once the infrared transmitter generates emission, then it arrives at the object & some of the
emission will reflect back toward the infrared receiver. The sensor output can be decided by
the IR receiver depending on the intensity of the response.
Types of Infrared Sensor
Infrared sensors are classified into two types like active IR sensor and passive IR sensor.
Active IR Sensor
This active infrared sensor includes both the transmitter as well as the receiver. In most of the
applications, the light-emitting diode is used as a source. LED is used as a non-imaging
infrared sensor whereas the laser diode is used as an imaging infrared sensor.
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These sensors work through energy radiation, received & detected through radiation. Further,
it can be processed by using the signal processor to fetch the necessary information. The best
examples of this active infrared sensor are reflectance and break beam sensor.
Passive IR Sensor
The passive infrared sensor includes detectors only but they don’t include a transmitter.
These sensors use an object like a transmitter or IR source. This object emits energy and
detects through infrared receivers. After that, a signal processor is used to understand the
signal to obtain the required information.
The best examples of this sensor are pyroelectric detector, bolometer, thermocouple-
thermopile, etc. These sensors are classified into two types like thermal IR sensor and
quantum IR sensor. The thermal IR sensor doesn’t depend on wavelength. The energy source
used by these sensors is heated. Thermal detectors are slow with their response and detection
time. The quantum IR sensor depends on the wavelength and these sensors include high
response and detection time. These sensors need regular cooling for specific measurements.
IR Sensor Circuit Diagram
An infrared sensor circuit is one of the basic and popular sensor modules in an electronic
device. This sensor is analogous to human’s visionary senses, which can be used to detect
obstacles and it is one of the common applications in real-time. This circuit comprises the
following components
• LM358 IC 2 IR transmitter and receiver pair

• Resistors of the range of kilo-ohms.
• Variable resistors.
• LED (Light Emitting Diode).
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Infrared Sensor Circuit Diagram
In this project, the transmitter section includes an IR sensor, which transmits continuous IR
rays to be received by an IR receiver module. An IR output terminal of the receiver varies
depending upon its receiving of IR rays. Since this variation cannot be analyzed as such,
therefore this output can be fed to a comparator circuit. Here an operational amplifier (op-
amp) of LM 339 is used as a comparator circuit.
When the IR receiver does not receive a signal, the potential at the inverting input goes
higher than that non-inverting input of the comparator IC (LM339). Thus the output of the
comparator goes low, but the LED does not glow. When the IR receiver module receives a
signal to the potential at the inverting input goes low. Thus the output of the comparator (LM
339) goes high and the LED starts glowing.
Advantages
The advantages of IR sensor include the following
• It uses less power

• The detection of motion is possible in the presence or absence of light approximately with
equal reliability.
• They do not need contact with the object for detection
• There is no data leakage because of the ray direction
• These sensors are not affected by oxidation & corrosion
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• Noise immunity is very strong
POWER SUPPLY:
The input to the circuit is applied from the regulated power supply. The a.c. input i.e.,
230V from the mains supply is step down by the transformer to 12V and is fed to a rectifier.
The output obtained from the rectifier is a pulsating d.c voltage. So in order to get a pure d.c
voltage, the output voltage from the rectifier is fed to a filter to remove any a.c components
present even after rectification. Now, this voltage is given to a voltage regulator to obtain a
pure constant dc voltage.
Fig: Power supply
TRANSFORMER:
Usually, DC voltages are required to operate various electronic equipment and these
voltages are 5V, 9V or 12V. But these voltages cannot be obtained directly. Thus, the a.c
input available at the mains supply i.e., 230V is to be brought down to the required voltage
level. This is done by a transformer. Thus, a step-down transformer is employed to decrease
the voltage to a required level.
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RECTIFIER:
The output from the transformer is fed to the rectifier. It converts A.C. into pulsating
D.C. The rectifier may be a half wave or a full wave rectifier. In this project, a bridge rectifier
is used because of its merits like good stability and full wave rectification.
The Bridge rectifier is a circuit, which converts an ac voltage to dc voltage using both
half cycles of the input ac voltage. The Bridge rectifier circuit is shown in the figure. The
circuit has four diodes connected to form a bridge. The ac input voltage is applied to the
diagonally opposite ends of the bridge. The load resistance is connected between the other
two ends of the bridge.
For the positive half cycle of the input ac voltage, diodes D1 and D3 conduct, whereas
diodes D2 and D4 remain in the OFF state. The conducting diodes will be in series with the
load resistance RL and hence the load current flows through RL.
For the negative half cycle of the input ac voltage, diodes D2 and D4 conduct
whereas, D1 and D3 remain OFF. The conducting diodes D2 and D4 will be in series with the
load resistance RL and hence the current flows through RL in the same direction as in the
previous half cycle. Thus a bi-directional wave is converted into a unidirectional wave.
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FILTER:
Capacitive filter is used in this project. It removes the ripples from the output of
rectifier and smoothens the D.C. Output received from this filter is constant until the mains
21
voltage and load is maintained constant. However, if either of the two is varied, D.C. voltage
received at this point changes. Therefore, a regulator is applied at the output stage.
VOLTAGE REGULATOR:
As the name itself implies, it regulates the input applied to it. A voltage regulator is an
electrical regulator designed to automatically maintain a constant voltage level. In this
project, power supply of 5V and 12V are required. In order to obtain these voltage levels,
7805 and 7812 voltage regulators are to be used. The first number 78 represents positive
supply and the numbers 05, 12 represent the required output voltage levels. The L78xx series
of three-terminal positive regulators is available in TO-220, TO-220FP, TO-3, D2PAK and
DPAK packages and several fixed output voltages, making it useful in a wide range of
applications. These regulators can provide local on-card regulation, eliminating the
distribution problems associated with single point regulation. Each type employs internal
current limiting, thermal shut-down and safe area protection, making it essentially
indestructible. If adequate heat sinking is provided, they can deliver over 1 A output current.
Although designed primarily as fixed voltage regulators, these devices can be used with
external components to obtain adjustable voltage and currents.
DC MOTOR
An electric motor is a machine which converts electrical energy into mechanical energy.
Principles of operation
In any electric motor, operation is based on simple electromagnetism. A current-carrying
conductor generates a magnetic field; when this is then placed in an external magnetic field,
it will experience a force proportional to the current in the conductor, and to the strength of
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the external magnetic field. As you are well aware of from playing with magnets as a kid,
opposite (North and South) polarities attract, while like polarities (North and North, South
and South) repel. The internal configuration of a DC motor is designed to harness the
magnetic interaction between a current-carrying conductor and an external magnetic field to
generate rotational motion.
RELAY CIRCUIT
Relays are electromechanical devices that use an electromagnet to operate a pair of movable
contacts from an open position to a closed position.
The advantage of relays is that it takes a relatively small amount of power to operate the relay
coil. However, a relay switch circuit can be used to control motors, heaters, lamps or AC
circuits which themselves can draw a lot more electrical voltage, current and therefore power.
Fig. Relay Circuit
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6.2 Software Requirements
ARDUINO software is used
HOW TO START WITH ARDUINO SOFTWARE
1. | Get an Arduino or Genuino board and USB cable. ...

2. | Download and install the Arduino Software (IDE) ...
3. | Connect the board. ...
4. | Install the board drivers. ...
5. | Launch the Arduino Software (IDE) ...
6. | Open the blink example. ...
7. | Select your board. ...
8. | Select your serial port.
1. Get an Arduino or Genuino board and USB cable

In this tutorial, we assume you're using an Arduino or Genuino Uno or an Arduino or
Genuino Mega 2560. If you are using a retired board as Arduino
Duemilanove, Nano or Diecimila please refer to the driver installation instructions end
of this document. If you have another board, read the corresponding page linked in the
main getting started page.
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2. Download and install the Arduino Software (IDE)
Get the latest version from the download page. You can choose between the Installer
(.exe) and the Zip packages. We suggest you use the first one that installs directly
everything you need to use the Arduino Software (IDE), including the drivers. With the
Zip package you need to install the drivers manually.
When the download finishes, proceed with the installation and please allow the driver
installation process.
Choose the components to install
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Choose the installation directory (we suggest to keep the default one)
The process will extract and install all the required files to execute properly the Arduino
Software (IDE)
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3. Connect the board
The USB connection with the PC is necessary to program the board and not just to power
it up. The Uno and Mega automatically draw power from either the USB or an external
power supply. Connect the board to your computer using the USB cable. The green
power LED (labelled PWR) should go on.
4. Install the board drivers
If you used the Installer, Windows - from XP up to 10 - will install drivers automatically
as soon as you connect your board.
If you downloaded and expanded the Zip package or, for some reason, the board wasn't
properly recognized, please follow the procedure below.
• Click on the Start Menu, and open up the Control Panel.

• While in the Control Panel, navigate to System and Security. Next, click on System.
Once the System window is up, open the Device Manager.
• Look under Ports (COM & LPT). You should see an open port named "Arduino UNO
(COMxx)". If there is no COM & LPT section, look under "Other Devices" for
"Unknown Device".
• Right click on the "Arduino UNO (COmxx)" port and choose the "Update Driver
Software" option.
• Next, choose the "Browse my computer for Driver software" option.
• Finally, navigate to and select the driver file named "arduino.inf", located in the
"Drivers" folder of the Arduino Software download (not the "FTDI USB Drivers" sub-
directory). If you are using an old version of the IDE (1.0.3 or older), choose the Uno
driver file named "Arduino UNO.inf"
• Windows will finish up the driver installation from there.
27
5. Launch the Arduino Software (IDE)
Double-click the Arduino icon (arduino.exe) created by the installation process. (Note: if
the Arduino Software loads in the wrong language, you can change it in the preferences
dialog.
6. Open the blink example
Open the LED blink example sketch: File > Examples >01.Basics > Blink.
28
7. Select your board
You'll need to select the entry in the Tools > Board menu that corresponds to your
Arduino or Genuino board.
29
8. Select your serial port
Select the serial device of the board from the Tools | Serial Port menu. This is likely to
be COM3 or higher (COM1 andCOM2 are usually reserved for hardware serial ports).
To find out, you can disconnect your board and re-open the menu; the entry that
disappears should be the Arduino or Genuino board. Reconnect the board and select that
serial port.
30
9. Upload the program
Now, simply click the "Upload" button in the environment. Wait a few seconds - you
should see the RX and TX leds on the board flashing. If the upload is successful, the
message "Done uploading." will appear in the status bar.
A few seconds after the upload finishes, you should see the pin 13 (L) LED on the board
start to blink (in orange). If it does, congratulations! You've gotten Arduino or Genuino
up-and-running
31
CHAPTER 7
RESULTS AND DISCUSSIONS
The robot that was manufactured facilitates mopping mechanism The entire project started after
approximating weight of the robot. Based on the weight, the torque required for the robot to
move was estimated and the market survey was done to get to the final motor which was high
Torque Metal Geared DC motor had been used in the robot. The shape and size of the robot were
decided to keep in mind the ease of navigation and programming. With the motor in hand the
power supply to the robot is to be selected, keeping in mind the voltage supply and the current
capacity the market availability was narrowed down and the Lead Acid Batteries were chosen to
reduce the cost of the robot.
The bumper switches i.e., the limit switches were preferred over other non-contact sensors to
increase the efficiency of the robot. Many challenges had to be addressed during every stage of
the development of the robot. These include Positioning of the Components, Wheel Alignment,
Vacuum Chamber, Sensor Positioning, Motor Drive Overheating, and Navigation.
The robot was able to cover 90% to 92% of the area by following the patterns shown in the
figures. The rest of the area can be cleaned using the Android mobile phone facilitated by the
HC-05 Bluetooth module, this enables to clean the entire area. The Bluetooth controlled robot
can be used to do the spot cleaning, which was not facilitated by the automatic cleaning method.
The Bluetooth control also enables the ability to clean the difficult areas and assist the robot to
do the repeated cleaning of the difficult areas.
The robot took approximately 10 to 15 minutes to clean a room with the dimensions of 6m*5m.
The robot runs for a total time of 35 minutes on full charge. It is able to simultaneously vacuum
and wet mop the floor.
32
CHAPTER 8
CONCLUSION AND FUTURE SCOPE
8.1 CONCLUSION
• This project presents that floor cleaning process can be done in an easier manner and
more efficiently by robot utilizing wireless robotic system.
• This proposed robot reduces the time and cost of labour.
• In the previous research papers like robot vacuum cleaner and automatic floor cleaner,
robot had some drawbacks like colliding with objects in front of it and this vacuum
cleaner couldn’t reach to small areas and left those areas unclean and the automatic floor
cleaner robot collects the dust but the drawback over here is that it does not clean the wet
floor.
• These two drawbacks have been overcoming in this project.
8.2 FUTURE SCOPE:
To further enhance the navigation performance of the robot, feedback sensors such as optical
encoders can be integrated. Cleaner brushes can be added to vacuum cleaning mechanism to
increase the efficiency of dust collecting. Lithium polymer batteries can be used to reduce
the weight of the robot which can further lead to the reduction of power consumption.
33
REFERENCES
[1] Manya Jain, Pankaj Singh Rawat, Assist.Prof. Jyoti Morbale "AutomaticFloor
Cleaner”International Research Journal of Engineering and Technology Volume: 04 Apr -
2017.
[2] Uman Khalid, Muhammad Faizan Baloch, Haseeb Haider , Muhammad Usman Sardar
Muhammad Faisal Khan, Abdul Basit Zia1 and Tahseen Amin Khan Qasuria Faculty
ofElectronic 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.
[3] Manreet 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.
[4] Jens-Steffen Gutmann, Kristen Culp, Mario E. Munich and Paolo Pirjanian. The
SocialImpact of a Systematic Floor Cleaner. In IEEE international workshop on advance
robotics and its social impacts, Technische University munchen, Germany May 21-23, 2012.
[5] Mr.Chavan Swaroop Chandrakant, Mr.Parulekar Sharvarish Shashikan, Mr. Gavali

Omkar Raju, Mr. Gokhale Shantanu Bhalchandra, Mr. Shinde Vaibhav Tanaji " Semi-
Automatic Floor Cleaner with Obstacle Avoidance for Indoor Applications” International
Research Journal of Engineering and Technology Volume: 05 Feb-2018.
[6] Vaibhavi Rewatkar, Sachin T. Bagde,” Design of Automated Floor Cleaning System”
International Journal on Recent and Innovation Trends in Computing and Communication
ISSN: 23218169 Volume: 3 Issue: 2
[7] Ajaykumar,Madhura,Mahamunkar,Rose Merlin Jose Sahima Khan “Automated

Operating Room Cleaning Robot”.International Journal of Advanced Research in Electrical
Electronics and Instrumentation Engineering. Vol-5, Issue 04, April 2016.
34
[8] Aishwarya Pardeshi, Shraddha More, Dhanashri Kadam, V.A.Patil " Automatic Floor
Cleaner" IJECT Vol. 8, Issue 1, Jan - March 2017.
[9] Abhishek Pandey, Anirudh Kaushik, Amit Kumar Jha, Girish Kapse " A Technological
Survey on Autonomous Home Cleaning Robot" International Journal of Scientific and
Research Publications,Volume 4,Issue 4,April 2014.
[10] C. Alex and A. Moscaritolo, “The Best Robot Vacuums for 2020,”PCMag, 2020.
[Online]. Available: https://www.pcmag.com/picks/the-best-robot-vacuuiiLS?test uuid—0 I j
rZgWN XhmA1 ocC i7Zl IXevj&test variantb.
[11] A. K. Bordoloi, F. Islam, J. Zaman, N. Phukan, and N. M. Kakoty,“A floor cleaning

robot for domestic environments,” in ACM International Conference Proceeding Series,
2017, vol. Part F132085, pp. 1-5.
[12] H. Rashid, A. Mahmood, S. Shekha, S. M. T. Reza, and M.Rasheduzzaman, “Design

and development of a DTMF controlled room cleaner robot with two path-following
method,” in 201619th International Conference on Computer and Information Technology
(ICCIT), 2016, pp. 484—489.
[13] Arduino.cc, “Arduino UNO Rev3.” [Online]. Available:

https://store.arduino.cc/arduino-uno-rev3.
[14] J. Forlizzi and C. DiSalvo, “Service robots in the domestic environment: a study of the
roomba vacuum in the home,” in Proceeding o f the 1st ACM SIGCH1/SIGART conference
on Human-robot interaction - HRI •06,2006, pp. 258-265.
[15] “HC-06 Bluetooth Module.” [Online].
Available: https://componentsl01.com/wireless/hc-06-bluetooth-modulepinout-datasheet
35
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A

SOLAR FLOOR CLEANING ROBOT

Under the guidance of

PROF. MOHINI R. MEHTA

Department of Electronics & Telecommunication Engineering

This is to certify that the Project entitled “SOLAR FLOOR

Prof. Mohini R. Mehta Prof. S. L. NALBALWAR

Electronics and Telecommunication Engineering

Sr. No. Title Page No.

CHAPTER 2 LITEATURE REVIEW 7

CHAPTER 3 SYSTEM DESIGN 8

CHAPTER 5 FLOW CHART OF SYSTEM 17

CHAPTER 6 SYSTEM REQUIREMENT 21

CHAPTER 7 RESULT AND DISCUSSION 23

CHAPTER 8 CONCLUSION AND FUTURE WORK 26

FIGURE TITLE OF FIGURE PAGE NO.

TABLE TITLE OF TABLE PAGE NO.

LCD Liquid Crystal Display

IR Sensor Infrared Sensor

DCMotor Direct Current Motor

USB Universal Serial Bus

1.2 Problem Statement:

1.4 Scope of Project

Fig 1: Block Diagram of Proposed System

3.2 Description of System:

module, Solar Panel, cleaning mechanism and Arduino UNO.

• The power supply is given to the Arduino UNO as well as to relay.

receives the commands from transmitter app.

of robotic arm and last dc motor is used to rotate arm completely.

application within a range.

obstacle using buzzer.

FLOWCHART OF THE SYSTEM

5.1 FLOWCHART OF THE SYSTEM

Fig. Flowchart of Proposed System

6.1 HARDWARE REQUIREMENTS

• Arduino UNO (ATMEGA 328)

• Robotic Arm For Cleaning

ATMEGA328P is high performance, low power controller from Microchip. ATMEGA328P

The 16×2 LCD pinout is shown below.

The features of this LCD mainly include the following.

• The operating voltage of this LCD is 4.7V-5.3V

What is an IR Sensor/Infrared Sensor?

Types of Infrared Sensor

IR Sensor Circuit Diagram

• LM358 IC 2 IR transmitter and receiver pair

Infrared Sensor Circuit Diagram

The advantages of IR sensor include the following

• It uses less power

• Noise immunity is very strong

Fig: Power supply

Fig. Relay Circuit

6.2 Software Requirements

ARDUINO software is used

HOW TO START WITH ARDUINO SOFTWARE

1. | Get an Arduino or Genuino board and USB cable. ...

1. Get an Arduino or Genuino board and USB cable

2. Download and install the Arduino Software (IDE)

Choose the components to install

3. Connect the board

4. Install the board drivers

• Click on the Start Menu, and open up the Control Panel.

5. Launch the Arduino Software (IDE)

6. Open the blink example