A Synopsis On

“CleanSweep – The Floor Cleaning Bot”

Programme : B.Tech

Branch: CSE

Name of Students:

1. Sayali M. Meshram (19005002)

2. Mohammad Mehdi Raza Jafri (19005012)

3. Kondba R. Jatale (19005015)

4. Ashwin Bolne (19005022)

5. Shruti S. Deshmukh (19005060)

Guide:

Prof. M. B. Waghmare

1
 Abstract

Automation is one of the trending subjects surrounding the manufacturing industry in the 21st
century. Not only does it help manufacturers keep up with growing global demand, it also helps
create new job opportunities as well as help a manufacturer progress into the 21st century. With
the advancement of technology, robots are getting more attention of researchers to make life of
mankind comfortable. The robot is designed to replace human efforts with automation and can be
a radical technology if made affordable.

Automatic floor cleaner is a compact robotics system that makes tedious, tiresome household
works simpler and more automatic. The main objective of this robot is to reduce human interaction
in the cleaning process. The proposed system has a mopping section and a vacuum section. The
mopping section consists of a mop attached to the robot used for cleaning the floor. It is attached
to a small water container from which water is dipped in order to make the mop wet. The vacuum
section consists of a vacuum pump for sucking the dust particles on the way. All hardware and
software operations are controlled by an Arduino Uno microcontroller. The flexibility, time-saving
and efficiency make the robot a clean choice for cleaning the floor.

Keywords: Automation , Automatic floor cleaner , mopping , vacuum , Arduino Uno

2
1. Introduction

The Internet of things (IoT) is a network of physical devices that are embedded with
electronics, sensors, software and network connectivity to share the data. The IOT
gives access to sense and control the objects remotely in a network which gives direct
integration of physical world into computer based systems. The robotics details with
design, operations, construction and application of robots. It also details with computer
system for the control, information processing and sensory feedback. The Internet of things
and Robotics have been hand holding each other contributing to individual growth and
development. In modern era robots are playing an important role in life of mankind with
their advance technologies, making the human life easier and comfortable. The cleaning
robot are effective in assisting humans in floor cleaning applications at homes, hotels,
restaurants, offices, hospitals, workshops, warehouses and universities etc. so they have
taken more recognition in robotics research. Fundamentally, the robot cleaners have been
distinguished by their cleaning competence like dry vacuum cleaning, floor mopping etc.
Some existing products are built based on the simple obstacle avoidance using infrared
sensors or ultra-sonic sensor and some use laser mapping technique. The operations and
cleaning mechanism of each cleaning robots have its own advantages and disadvantages.
For example, some of the robots using laser mapping are relatively less time consuming,
faster and energy efficient but costly. The laser mapping technique has few drawbacks
such as it requires high-end hardware for data processing and purchasing of new
software that uses clouds. To provide a substantial solution to the problem of
manufacturing robotic cleaner utilizing local resources while keeping it low costs.
To provide a substantial problem solving for manufacturing cleaning robot can be
built by utilizing local resources and by keeping it low costs. Mechanization makes
the household routine works to labor-saving, comfort and swift. One among the routine,
laborious task is floor cleaning. Different mechanized floor cleaners are procurable in the
market. The Smart floor cleaning is built based on obstacle avoidance with low cost. This
work gives the design and development of smart floor cleaning robot. The robot can be
used in domestic and industrial purpose for cleaning the floor periodically without
human intervention. Smart floor cleaner will have prominent merits like time efficient,
convenient for people with mobility issues, etc. Various research works were published in
the technology advancement in the area of embedded systems.

3
2. Literature survey

In “Autonomous Vacuum Cleaner” (Robotics And Autonomous Systems) by Iwan Ulrich

the Authors talk about broad topics which include Selection of shape of robot, selection of
Cleaning mechanisms, Sensor systems and mapping of obstacles using these Sensors. In
this paper their Robot relies on the 54 tactile sensors placed on the robot and the area they
are trying to clean have uncertain extent and obstacles. So they have assumed only four
kinds of obstacles (wall, legs, concave and convex corners) for programming purposes.
They have also considered the type of vacuum cleaner that needs to be used based upon
the power supply available. Navigation is explained in terms of obstacle identification,
hypothesis and map creation. [1]The paper “Development of a Vacuum Cleaner
Robot”(Alexandria Engineering Journal) by T.B. Asafa gives us information about the
characteristics that need to be considered while developing the robot. It gives us an idea
about the considerations taken in order to design the aspects like Geometry, sweeper
position, Dustbin size, cooling provisions, Electrical equipment, Controllers, Chassis and
sensors. [2]The paper “Design of Dual Purpose Cleaning Robot”(International Conference
on Robotics and Smart Manufacturing) by Raj Vishaal gives information about the design
of a dual purpose cleaning Robot which can be used for cleaning walls as well as the floor.
The author also gives information about Electric Ducted Fan and how it is used in Adhering
the robot to the glass walls. The floor cleaning system is manually controlled using
Bluetooth signals from a Smartphone while the wall cleaning is carried out automatically.
The robot has been designed in two parts namely the base module and the cleaning module.
These two are attached by the supporting ropes. [3]The paper “Floor Cleaning Robot with
Mobile-App or Autonomous” by Vatsal Shah deals with the research and development of
Manual Phone application controlled as well as fully autonomous Robot. It highlights the
key parameters that need to be taken into consideration while designing the robot like
Obstacle avoidance, Floor detection, Collision detection, Fan motor monitoring, Light
Sensing, Real time Clock, etc. The paper also gives a detail description of methodology
followed as well as the components used in the development of the robot. [4]

4
3. Motivation

Effective floor cleaning and sanitizing is essential as it helps and protect the health of the
human beings directly and indirectly. There is no one single cleaning method that is
suitable for all locations and occasions and effective cleaning depends upon type of
cleaning device, cleaning technique and also the equipment should be user friendly.
Cleaning work can be physically demanding and a need has been identified to developed
methods for systematic ergonomics evaluation of new products. Automation can be one of
the greatest solutions for this. We can build a automated floor cleaning bot with proposed
operations of wet mopping and floor cleaning. This automated robot built is operated using
internet of things and Arduino programming.
The main motive of this project is to design and develop a automated floor clean bot named
CleanSweep using Arduino Uno, Ultrasonic sensor, Bluetooth Module, etc. and to make
cleaning process easier and efficient.

4. Problem statement

Earlier sawdust was used to remove water that spilled on the floor. Tea leaves were
used to remove the dirt and odour on the carpets. As time passed on, broom sticks and
mops were invented. Still it required manpower. The evolvement of vacuum cleaner
helps the human to reduce the task of cleaning to an extent by sucking the dust particles.
Even though requires the human attention. Later the emergence of room cleaning robot
with random cleaning algorithm occurred but the system should be monitored by the
user and they failed to produce complete cleaning. Due to this reason, mobile aided
Arduino Uno based automatic floor cleaning using ultrasonic sensor is proposed to solve
this problem. This project will be an advantage as it is iot based cleaning robot
intelligently programmed to clean the floor.

5
5. Aim & Objective

The aim the proposed work is to design the automatic floor cleaning robot in order to
work human hazards place and to skip need of personnel.
This work will try to achieve some or all the following objectives

1. To develop an automated cleaning robot

2. To simplify human life
3. To interface Bluetooth module with Arduino
4. To reduce human efforts
5. To save the time
6. To reduce the cost
7. To prevent injuries due to tripping and slipping
8. To make the environment sanitary
9. To beautify the floor by removing stains and grit and dust

6
6. Proposed Methodology

Fig. Flowchart

Design of Automatic Cleaning and Mopping Robot starts with the design of simple and
most effective chassis for the robot which is a very important part as it has to carry all the
weight on the robot then electronics components which are to be used on the robot are
decided which include the type of motor and its specification that are to be used to run the
bot, the sensors to be used, the microcontroller, the motor drivers, the wheels and other
electronic components to be used on the robot. After all, parts are procured assembling the
components and finally testing and calibrating the device are done.

Figure 1. Design Methodology for the Project.

Figure 1, gives a brief idea of the how the design of Automatic Cleaning and Mopping
Robot is done. It starts with deciding on the how the cleaning and mopping is done and
ends with the testing and calibration.

Figure 2. Working Methodology of the Robot.

7
 Figure 2, shows the working of Automatic Cleaning and Mopping Robot which starts by
switching on the device, the robots move forward my checking for obstacles and avoids
them if any. As soon as the robot is switched on it starts cleaning and mopping
simultaneously and if any obstacle is there in its path it deviates from that and cleans the
entire space

7. Plan of Work

The proposed work will be carried out in following phases

Phase 1: Information gathering

In this phase an exhaustive study of the project will be carried out to identify all the
requirements of the project. This include gathering all the components for the project.

Phase 2: Implementation
In this phase working model of the floor cleaning robot will be created by following the
proposed methodology.

Phase 3: Testing
In this phase the testing of the model will be carried out to see if the robot is working
properly and all the objectives of the project have been met.

Phase 4: Closing
This is the final phase where the project will be refined and submitted along with related
work.

8
References

[1]https://www.researchgate.net/publication/363503605_Floor_Cleaning_Smart_Robot
[2] https://www.ijrte.org/wp-content/uploads/papers/v8i4/D8738118419.pdf
[3]https://www.academia.edu/39048005/MOBILE_AIDED_AUTOMATIC_ARDUINO_BA
SED_FLOOR_CLEANING_ROBOT_USING_ULTRASONIC_SENSOR_i
[4] https://ijarsct.co.in/Paper3607.pdf
[5] Smart Multifunction Floor Cleaning Robot (ijraset.com)
[6] (PDF) Smart Multifunction Floor Cleaning Robot | vaishnavi Dhole - Academia.edu
[7] (PDF) ARDUINO BASED DRY & WET AUTOMATIC FLOOR CLEANER
(researchgate.net)

Student name & Sign

1.Sayali M. Meshram(19005002)

2.Mohammad Mehdi Raza Jafri(19005012)

3.Kondba R. Jatale(19005015)

4.Ashwin Bolne(19005022)

5.Shruti S. Deshmukh(19005060)

Guided by
Prof. Milind B. Waghmare