Republic of the Philippines

Region IX, Zamboanga Peninsula

Division of City Schools
DON PABLO LORENZO MEMORIAL HIGH SCHOOL
Gov. Ramos Ave. Sta. Maria
Zamboanga City

ARDUINO-BASED AUTOMATED SWEEPER

FRANCIS VINCE F. FLORES

MICHAEL GHANEM DEL G. JARAMILLA

IVAN RYLLE P. REVELO

TECHNOLOGY AND INNOVATION – TEAM CATEGORY

9 STEM A

THIS RESEARCH PAPER IS PRESENTED IN PARTIAL FULFILLMENT

OF THE REQUIREMENTS FOR COMPLETION OF

STEM RESEARCH III SUBJECT

DON PABLO LORENZO MEMORIAL HIGH SCHOOL

ZAMBOANGA CITY

OCTOBER 2023
 CHAPTER I

INTRODUCTION

Background of the Study

While many individuals still opt for manual cleaning, it's essential to recognize that manual

sweeping demands significant effort and time, posing physical strain, fatigue, and potential

musculoskeletal issues (Saravanan and Rathanraj, 2017). Cleaners perform a variety of tasks, but the

conventional methods they employ often entail inherent risks (Page, 2020). Custodians, housekeepers,

and cleaning personnel are particularly vulnerable to a range of health issues, including respiratory and

dermatological complaints (Rosenman et al., 2003; Charles et al., 2009; Vizcaya et al., 2011). This issue

is underscored by the annual receipt of nearly 3,000 significant cleaning-related accident reports by the

United Kingdom's Health & Safety Executive (HSE) (Page, 2020).

In response to these challenges, researchers are increasingly turning their attention to floor

cleaning machines as technology evolves to enhance people's quality of life (Kadbhane et al., 2022).

Robotic cleaning machines offer a more convenient and effective cleaning experience compared to

traditional manual methods, as they can operate independently, establish cleaning schedules, and

complete cleaning cycles without human intervention (Bradley, 2015). Furthermore, robotic cleaning

equipment enhances efficiency, speed, and consistency in cleaning while providing performance

monitoring for companies and businesses (Christiansen, 2022).

Acknowledging the substantial shortcomings of traditional cleaning practices, this research aims

to introduce an Arduino-powered automated sweeper. This innovation addresses these challenges by

offering an automatic cleaning robot that not only saves time, money, and offers convenience but also

helps reduce the impact of these disadvantages on cleaning processes.

2
Objectives of the Study

The study aims to determine the cleaning efficiency of the Arduino-based automated sweeper.

Specifically, it aims to:

1. Determine how the duration in minutes of the cleaning cycle affects the following:

i. Amount of trash gathered in grams

ii. Distance traveled in meters

Significance of the Study

In determining the cleaning efficiency of the Arduino-based automated sweeper, the study can

provide a cost-effective and efficient robot that can autonomously navigate and clean a designated area.

This study can also be helpful to homeowners, business owners, and infrastructure owners by

providing an automated cleaning robot that is time-saving, convenient, and cost-saving. It may also

replace traditional cleaning methods. It can also help elderly and physically challenged individuals

maintain cleaner living spaces independently, improving their quality of life.

It may also be informative to the various branches of science, such as robotics, electronics, and

computer science, by providing an automated cleaning robot that can offer insights and opportunities for

research.

3
Scope and Delimitation of the Study

The materials will be ordered in an online shopping app. The creation of the cleaning robot,

experiment, and tests will be conducted in the classroom of 9 STE-A of Don Pablo Lorenzo Memorial

High School, Governor Ramos Ave, Sta Maria, Zamboanga City within 1 week.

This study focuses on determining the cleaning efficiency of the Arduino-based automated

sweeper. This study is limited to the determination of the correlation between the duration of the cleaning

cycle and the amount of trash gathered, and the distance traveled. The study will not cover the navigation

accuracy, battery life, and noise level of the Arduino-based automated sweeper.

The room’s condition, where the Arduino-based automated sweeper will clean, is delimited in an

area of 100m², and 10g of trash is distributed per 5m², the trash will be placed randomly within the

allotted space of 5m².

Definition of Terms

Terms Definition

1. Arduino-Based A device or robot that is programmed based of Arduino

2. Automated A process of using computer-controlled device or robot to perform cleaning

cleaning tasks without direct human intervention.

3. Automated A cleaning device or robot that performs tasks, make decisions or operate

sweeper independently without direct human intervention.

4. Manual cleaning A process of physical labor to perform cleaning tasks.

5. Musculoskeletal An issue that affects the muscles, bones, joints, tendons, ligaments of the people

problems manually sweeping.

4
 REFERENCES

Saravanan and Rathanraj, K. (2017, September 1). Development of a Low Cost Manually Operated

Sweeper for Domestic and Small Business Use. Accessed from https://ijsrd.com/Article.php?

manuscript=IJSRDV5I60041&fbclid=IwAR0b9p10zwogdxDUX0JnPKza3n0URUDvn_rtw_3lb

M2XqpgjkobQPSV7NZw

Kadbhane, V., Somdatta, Abhishek, Pratik, & Aman. (2022). AUTOMATIC FLOOR CLEANING

MACHINE (Vol. 06). International Journal of Scientific Research in Engineering and

Management (IJSREM). Retrieved from https://doi.org/10.55041/IJSREM13518

Page, L. (2020, August 5). Health & Safety Faced by Cleaners | Peoplesafe. Accessed from

https://peoplesafe.co.uk/blogs/health-safety-risks-faced-by- cleaners/

Garza, J. C., Cavallari, J. M., Wakai, S., Schenck, P., Simcox, N. J., Morse, T., Meyer, J. D., &

Cherniack, M. (2015, June 4). Traditional and Environmentally Preferable Cleaning Product

Exposure and Health Symptoms in Custodians. American Journal of Industrial Medicine.

Retrieved from https://doi.org/10.1002/ajim.22484

Bradley, T. (2015, December 22). Pros And Cons Of Using A Robot Vacuum. Accessed from

5
 https://www.forbes.com/sites/tonybradley/2015/12/22/pros-and-cons-of-using-a-robot-vacuum/?

sh=23ba9e734ac4

Christiansen. (2022, November 4). Gain a Competitive Edge With Robotic Cleaning. Accessed

from https://cmmonline.com/articles/gain-a-competitive-edge-with-robotic-cleaning

6
 CHAPTER II

REVIEW OF RELATED LITERATURE

Arduino, an open-source physical computing platform, has emerged as a versatile tool for

developing interactive projects that can function autonomously or connect to the Internet (Banzi &

Shiloh, 2022). With an Arduino board, various tasks such as starting a motor, illuminating an LED, or

even publishing online content can be accomplished by reading inputs like sensor data, button presses, or

social media interactions. These inputs trigger corresponding outputs, providing a seamless interaction

between the digital and physical worlds.

The simplicity and accessibility of Arduino make it a popular choice for both beginners and

experienced developers alike (Banzi & Shiloh, 2022). Its user-friendly nature, coupled with the Arduino

Integrated Development Environment (IDE), powered by Atmel's AVR or ARM microcontrollers,

enables easy programming using C or C++ languages (Louis, 2016). Moreover, the abundance of ready-

to-use libraries within the Arduino IDE significantly reduces development time and effort (Ismailov &

Jo`rayev, 2022).

Originally designed to cater to creatives without extensive engineering backgrounds, Arduino has

evolved into a preferred platform for millions worldwide who wish to delve into digital technology (Banzi

& Shiloh, 2022). Its primary aim is to provide a friendly environment for learning, experimentation, and

project creation, thereby democratizing access to electronics and microcontroller programming.

However, despite its user-friendly interface, programming microcontrollers can still pose

challenges to newcomers (Sandhu, 2021). Arduino endeavors to bridge this gap by offering a simplified

interface for software developers to explore the intricacies of microcontroller programming. The Atmel

7
ATmega processor forms the backbone of the Arduino microcontroller, complemented by an intuitive

IDE for logical programming (Sandhu, 2021).

The realm of automation extends beyond hobbyist projects into real-world applications, such as

automated sweepers, also known as robotic vacuum cleaners (Tuohy, 2023). These autonomous devices,

equipped with sensors and robotic drives, navigate spaces efficiently, providing cleaning solutions that

not only save time but also enhance convenience. Advanced features like self-emptying bins, mopping

capabilities, and obstacle-avoidance systems further enhance their utility (Tuohy, 2023).

Automation, as a broader concept, revolutionizes various sectors by delegating tasks to machines

previously performed by humans (Groover, 2023). It streamlines processes, improves efficiency, and

enhances productivity across industries. When implemented effectively, automation not only expedites

digital modernization but also optimizes resource utilization and improves customer service (Townsend,

2022). Contrary to common misconceptions, automation doesn't replace jobs; rather, it augments human

capabilities, leading to increased productivity and output (Harris, 2022).

Moreover, automation offers numerous health benefits, particularly in cleaning applications.

Traditional cleaning methods often involve exposure to harmful chemicals and physical strain, leading to

respiratory and musculoskeletal issues (Townsend, 2022). In contrast, automated cleaning systems

minimize human exposure to toxins, reduce the risk of accidents, and improve overall workplace safety.

In conclusion, Arduino's open-source platform facilitates the automation of interactive projects,

thereby enhancing efficiency and addressing various business challenges while mitigating health risks

associated with traditional cleaning methods. By leveraging technology like Arduino and embracing

automation, industries can streamline processes, improve productivity, and create safer working

environments for employees.

8
 REFERENCES

R, S., & Rathanraj, K. (2017, September 1). Development of a Low Cost Manually Operated

Sweeper for Domestic and Small Business Use. Accessed from https://ijsrd.com/Article.php?

manuscript=IJSRDV5I60041&fbclid=IwAR0b9p10zwogdxDUX0JnPKza3n0URUDvn_rtw_3lb

M2XqpgjkobQPSV7NZw

Kadbhane, V., Somdatta, Abhishek, Pratik, & Aman. (2022). AUTOMATIC FLOOR CLEANING

MACHINE (Vol. 06). International Journal of Scientific Research in Engineering and

Management (IJSREM). Retrieved from https://doi.org/10.55041/IJSREM13518

Page, L. (2020, August 5). Health & Safety Faced by Cleaners | Peoplesafe. Accessed from

https://peoplesafe.co.uk/blogs/health-safety-risks-faced-by- cleaners/

Garza, J. C., Cavallari, J. M., Wakai, S., Schenck, P., Simcox, N. J., Morse, T., Meyer, J. D., &

Cherniack, M. (2015, June 4). Traditional and Environmentally Preferable Cleaning Product

Exposure and Health Symptoms in Custodians. American Journal of Industrial Medicine.

Retrieved from https://doi.org/10.1002/ajim.22484

Bradley, T. (2015, December 22). Pros And Cons Of Using A Robot Vacuum. Accessed from

https://www.forbes.com/sites/tonybradley/2015/12/22/pros-and-cons-of-using-a-robot-vacuum/?

sh=23ba9e734ac4

Christiansen. (2022, November 4). Gain a Competitive Edge With Robotic Cleaning. Accessed

9
 from https://cmmonline.com/articles/gain-a-competitive-edge-with-robotic-cleaning

Banzi, & Shiloh. (2022, February 11). Getting Started With Arduino. Retrieved from

https://books.google.com.ph/books?

hl=en&lr=&id=qChfEAAAQBAJ&oi=fnd&pg=PT6&dq=info:WDU-

yzqojQsJ:scholar.google.com/&ots=I-tOC47ldg&sig=lbSUvyA9Rlaod70pHorx--

W0Ans&redir_esc=y#v=onepage&q&f=false

What is Arduino? | Arduino Documentation. (n.d.). Accessed from

https://docs.arduino.cc/learn/starting-guide/whats-arduino

Ismailov, A. S., & Jo`rayev, Z. (2022, March 27). Study of arduino microcontroller board.

Accessed from

https://www.researchgate.net/publication/359502443_Study_of_arduino_microcontroller_board

Louis, L. (2018, July). Working Principle of Arduino and Using it as a Tool for Study and

Research. Retrieved from https://doi.org/10.5121/ijcacs.2016.1203

Sandhu, R. (2021, June 3). An Overview of Arduino and Its Importance. Accessed from

https://www.lifewire.com/what-is-arduino-2495652

Tuohy, J. P. (2023, November 22). The best robot vacuum cleaners to get in 2023. Retrieved from

https://www.theverge.com/22997597/best-robot-vacuum-cleaner

Groover, M. P. (2023, November 9). Automation | Technology, Types, Rise, History, & Examples.

10
 Accessed from https://www.britannica.com/technology/automation

Perez J. (2023, April 12). How Automation Drives Business Growth and Efficiency - SPONSOR

CONTENT FROM SALESFORCE. Accessed from https://hbr.org/sponsored/2023/04/how-

automation-drives-business-growth-and-efficiency

Townsend C. (2023, January 23). How automation benefits the citizen experience. Accessed from

https://fedscoop.com/how-automation-benefits-the-citizen-experience/

Harris, S. (2020, May 1). The Benefits Of Automation In Today’s Workforce. Accessed from

https://www.forbes.com/sites/forbestechcouncil/2020/05/01/the-benefits-of-automation-in-todays-

workforce/?sh=53bbec081cc

Automation | Technology, Types, Rise, History, & Examples. (2023, November 9). Accessed from

https://www.britannica.com/technology/automation/Advantages-and-disadvantages-of-

automation

Traditional Cleaning vs. Green Cleaning - Part 1. (2008, December 5). MyHouseCleaningBiz.com.

https://www.myhousecleaningbiz.com/public/229.cfm

Cleaning & Disinfection Basics (Virus Elimination). (2022, October 5). aphis.usda.gov. Retrieved from

https://www.aphis.usda.gov/animal_health/emergency_management/downloads/hpai/clea

ning_disinfection.pdf

11
 CHAPTER III

METHODOLOGY

Research Locale

The preparation and experimentation of the cleaning robot will be conducted in the classroom of

9 STE-A of Don Pablo Lorenzo Memorial High School, Governor Ramos Ave, Sta Maria, Zamboanga

City within 1 week.

Research Design

The research design that will be used in this study is the Trial Design. A Trial table is where each

treatment has equal trials. The purpose of this design is to reveal a cause-and-effect relationship. The

researchers will utilize the Trial table given below:

Tr1T1 Tr2T1 Tr3T1 Tr4T1 Tr5T1 Tr6T1 Tr7T1 Tr8T1

Tr1T2 Tr2T2 Tr3T1 Tr4T2 Tr5T2 Tr6T2 Tr7T2 Tr8T2

Tr1T3 Tr2T3 Tr3T3 Tr4T3 Tr5T3 Tr6T3 Tr7T3 Tr8T3

Tr1T4 Tr2T4 Tr3T4 Tr4T4 Tr5T4 Tr6T4 Tr7T4 Tr8T4

Tr1T5 Tr2T5 Tr3T5 Tr4T5 Tr5T5 Tr6T5 Tr7T5 Tr8T5

Tr1T6 Tr2T6 Tr3T6 Tr4T6 Tr5T6 Tr6T6 Tr7T6 Tr8T6

Tr1T7 Tr2T7 Tr3T7 Tr4T7 Tr5T7 Tr6T7 Tr7T7 Tr8T7

Tr1T8 Tr2T8 Tr3T8 Tr4T8 Tr5T8 Tr6T8 Tr7T8 Tr8T8

Figure 1. Trial Design

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 Research Procedure

Gathering of Materials

The materials that the researcher will use in this experiment are: 18650 Batteries (2), 6v

Motor, Black Insulation Tape, Omni Directional Mecanum Wheels Robot Car Kit for Arduino UNO R3

STEM, Penknife Cutter, Super Glue will be bought in an online shopping app.

Making vacuum cleaner

The researchers will cut the plastic horizontally using a penknife cutter. After cutting the

plastic bottle, the researchers will attach the DIY trash filter to the inside of the plastic bottle. The

researchers will attach the mini fan to the 6V motor, then attach the 6V motor to the two (2) wooden

sticks using a glue gun. After that, the researchers will attach the 6V motor with the two (2) sticks to the

hole of the plastic bottle. Then a circle of plastic will be attached to two (2) sticks using black insulation

tape.

Setting up Arduino

The researchers will use a USB to program the Arduino. The Arduino code will be

retrieved from a video-sharing service.

Preparation of Trials

As shown in Figure 1. The correlation between the number of cleaning cycles on the

Arduino and the amount of trash gathered will be presented for this study with eight (8) treatments and

eight (8) trials per treatment. There is a 2-minute interval per cleaning cycle. 1.6 kg of trash will be used

to test the correlation between the number of cycles on the Arduino and the amount of trash gathered.

Treatment 1 – 1 cleaning cycle Treatment 5 – 5 cleaning cycles

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 Treatment 2 – 2 cleaning cycles Treatment 6 – 6 cleaning cycles

Treatment 3 – 3 cleaning cycles Treatment 7 – 7 cleaning cycles

Treatment 4 – 4 cleaning cycles Treatment 8 – 8 cleaning cycles

The study’s independent variable (IV) is the amount of cleaning cycles, while the

dependent variable is the average amount of trash gathered per cleaning cycle.

Data Gathering Procedure

The researchers will document the amount of trash gathered per trial. After conducting all

the trials, the researchers will calculate the average amount of trash gathered per cleaning cycle using the

formula shown below:

∑ Amount of trash gathered (grams) ÷ The amount of cleaning cycles = Average amount of trash gathered

(grams) per cleaning cycle

Waste Disposal

Following the data collection, the researchers will adhere to the following waste disposal

guidelines and precautions: Republic Act 6969, notably in Section 7's Administrative Provision: Waste

identification, labeling, and segregation complied with Department of Environment and Natural

Resources (DENR) Administrative Order No. 2013-22, which addresses the packaging and storage of

hazardous waste; Department of Health (DOH) Administrative Order No. 2007-0014, which focuses on

healthcare waste management and requires healthcare facilities to separate, treat, and dispose of medical

waste by prescribed guidelines; and Department of Environment and Natural Resources (DENR)

Administrative Order No. 2013-34, which directs the transportation of waste to facilities that are licensed

for treatment, storage, and disposal (TSD).

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Flow Chart

Gathering of Materials

Making Vacuum Cleaner

Setting Up Arduino

Preparation of Trials

Data Gathering Procedure

Waste Disposal

15