LAKSHMI NARAIN COLLEGE

OF TECHNOLOGY

MAJOR PROJECT
TOPIC
CLEANING ROBOT
 IDEA GENERATION
Robots to clean house
Robots to collect biomedical waste
how to achieve a Swachh Bharat, the robotic,safe and non-hazardous
way.
read about a nurse who had to pick up biomedical waste with her bare
hands and contracted Hepatitis B.
That prompted us to come up with the Nurse Assistant, a robot to do
the job.
We researched a lot before starting this project
We read lots of articles on how nurses in hospitals collect biomedical
waste, which is really dangerous for their health. So we have come
up with this robot, which will clean biomedical waste in a more
efficient manner.
Caregivers like doctors, nurses and ward-boys in hospitals are multiple
times more prone to catching infections as they are in close
proximity with the sick and handle biomedical waste without
requisite precautions. In Mumbai's Sewri TB Hospital, Asia's largest
centre for treating TB, for instance, close to 200 caregivers have
been infected with the disease. Of these, 40, including a senior
doctor, have died.
This reduces human contact. It will reduce infections that can be caused
due to pricks in healthy caregivers.
 Traditionally 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. From early human civilization human is increasingly dependent on the
machines. Human is trying to reduce the workload upon himself. By the help of
machines also we can get huge efficiency because there is no chance of human
error there. Now -a -days from 30 years intelligence and robotics growing with a
vast pace. Every human is using 2-3 robot at least per day. If we look at past 30
years we will see robotics from large structure going to small and
smaller in Nano range. Very complicated sensors have been designed to help the
robot in various works .Complicated pneumatic and actuating systems have been
designed. One of the best examples is the mobile phone. If we look at the floor
cleaning robot we can see iRobot is dominating the market with its 90 sq. cm
robot having indoor navigation as its principal controlling system. Also for many
in-house mobile robots indoor navigation is a big issue. 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.
 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. Several robotic
vacuum cleaners are available on the market but only few ones implement wet cleaning of
floors. The purpose of this project is 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. The main objective of this
project is to design and implement a vacuum robot prototype by using Arduino Mega,
Arduino Shield, LDR Sensor, Real Time Clock, Motor Shield L293D, Ultrasonic Sensor, and IR
Sensor and to achieve the goal of this project. Vacuum Robot will have several criteria that
are user-friendly
Automatic floor cleaner is a compact robotics system which provides floor cleaning service
in room and big offices reducing human labor. Basically as a robot it eliminates human error
and provide cleaning activity with much more efficiency. If we clean the floor manually then
there is a possibility that the operator will leave some portion of the floor. Also due to
manual labor involved this is time consuming and irritating to clean the floor. Also in big
offices floor area is very huge and the people involved there for cleaning purpose cannot
clean it much more efficiently. This is where the robot comes as an advantage. Also the
robot is small and compact in size. So we can carry it and place it wherever we can on the
house. Also in industries the robot is very cost effective as compared to manual labor
involved. The flexibility, time saving and efficiency make the robot a better choice for

.
cleaning the floor With the advancement of technology, robots are getting more
attention of researches to make life of mankind comfortable.
This projects presents 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.
 INTRODUCTION
ROBOT
Robot is an intelligent device having its own brain fed with computer logic so that it can
do the work according to the algorithm designed. Autonomous movement of vehicle is guided
by the logic controller designed. Robots plays an important role in each every field of life. It is
used in industries, in households and in institutes. The robots are just becoming as intelligent as
human now a days. Mostly an average human uses 2-3 robots per day in his day to day life.
Various robotics parts are:-
Pneumatic devices
Actuators
Sensors
Mechanical control devices like valve
Microcontroller – Controlling unit
Mechanical control devices are used to control the flow or movement of materials or any other
parts present in the device. Actuators are used for controlling a mechanism which ultimately
controls a part of the device.
Sensors are the sensing devices which transmit a signal and receives the signal and accordingly
used to accumulate the various environment information which is ultimately fed to
microcontroller for deciding the working of machines.
Microcontroller is the brain of robot where program is written and sensors are connected as
input and actuators as output. The controlling of the robot is governed by various algorithms
like fuzzy controller, machine learning based practices and artificial neural network based
algorithms. Depending upon the environment value received to the controller it eliminates the
error and transits from one state to another. Basically there are two types of controllers ,one is
continuous controller and another is PID based controller .Continuous controller is more direct
and less effective while PID controller is more advanced and varies according to the current
state and gives efficient result.
 In recent years, robotic cleaners have taken major attention in
robotics research due to their effectiveness in assisting humans in
floor cleaning applications at homes, hotels, restaurants, offices,
hospitals, workshops, warehouses and universities etc. Basically,
robotic cleaners are distinguished on their cleaning expertise like
floor mopping, dry vacuum cleaning etc. Some products are based on
simple obstacle avoidance using infrared sensors while some utilize
laser mapping technique. Each cleaning and operating mechanism of
robotic floor cleaners has its own advantages and disadvantages. For
example, robots utilizing laser mapping are relatively faster, less time
consuming and energy efficient but costly, while obstacle avoidance
based robots are relatively time consuming and less energy efficient
due to random cleaning but less costly. Countries like Pakistan are
way back in manufacturing robotic cleaners. Importing them from
abroad increases their costs. The main objective of this work is to
provide a substantial solution to the problem of manufacturing
robotic cleaner utilizing local resources while keeping it low costs.
 HELP TO MANKIND
Controlling provides various advantages over human powered
work. Following are some of
them:-
It gives accurate results and eliminates possibility of manual
error.
4
It is very first and efficient and the control system used in
industries are 100 times
efficient than human work.
In some part of the work areas it lessens the human efforts.
Washing machine comes
under this category.
It also plays the great role in bringing entertainment in human
life in different work.
Television is the live example of these type of robots.
 AVAILABLE PRODUCTS
A robotic vacuum cleaner is an autonomous electronic device that is
intelligently programed 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. iRobot[2]
In 2002, iRobot launched its first floor vacuum cleaner robot named
Roomba. Initially, iRobot decided to manufacture limited number of
units but Roomba immediately became a huge consumer sensation.
Due to its increased market demand, a series of following robots have
been launched in the market:
1. Roomba
• Launch Date: 2002
• Manufacturer: iRobot (American)
• Type of Use: Dry Vacuum
• Technology: IR, RF and auto-charging mechanism
• Price: $500
2. Scooba
• Launch Date: 2005
• Manufacturer: iRobot (American)
• Type of Use: Wet Washing of Floor
• Technology: IR with virtual wall accessories
• Price: $500
3. Braava
• Launch Date: 2006
• Manufacturer: iRobot, KITECH, Sony
• Type of Use: Floor moping for hard surfaces/Dry clean
• Technology: IR with virtual wall accessories for industrial cleaning
• Price: $700
B. NEATO Robotics[3]
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
• Price: $399
C. Dyson[4]
In 2001, Dyson built a robot vacuum known as DC06 which was
never released to the market due to its high price. In 2014, Dyson
launched a new product named as Dyson 360 Eye which uses a
different technology for path finding as compared to products
manufactured by NEATO Robotics or iRobot.
1. 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
history of cleaning robots)
• Price: $1000 (approx.)