JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY ANANTAPUR

COLLEGE OF ENGINEERING PULIVENDULA (AUTONOMOUS)

KADAPA DISTRICT (A.P) – 516390.
DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE
This is to certify that the project report entitled “FABRICATION OF SEMI
AUTONOMOUS FLOOR CLEANING ROBOT” is being submitted by
C.MANASA 15191A0314
M.BALASREENIVASULU 15191A0335
C.VANI RAJASREE 15191A0312
S.KIRAN KUMAR 15191A0346
S.RUHID AKRAM 15191A0351

in partial fulfilment of the requirement for the award of the Degree BACHELOR OF
TECHNOLOGY in Mechanical Engineering to JNTUA College of
Engineering(Autonomous), Pulivendula is abonafide work carried out by them under my
guidance and supervision. The results embodied in this project report have not been
submitted to any other University or Institute for the award of any degree.

Project Guide Head of the Department

K. PAVAN KUMAR REDDY,M. Tech(Ph.D) Dr. V. VENUGOPAL REDDY,M.E, PhD.,
Asst. Professor(Adhoc.) Professor & Head,
Department of Mechanical Engg., Department of Mechanical Engg.,
JNTUA College of Engineering, JNTUA College of Engineering,
Pulivendula-516390. Pulivendula-516390.

SIGNATURE OF PROJECT GUIDE SIGNATURE OF HMED

 LIST OF CONTENTS

 Abstract
 Introduction
 Literature Review
 Plan of Action
 Description of Components
 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 in
the market but only few ones implement wet cleaning of floors. But there are no
such robotic floor cleaners available in the markets which simultaneously
operate both the vacuum cleaning as well as wet cleaning. The purpose of this
project is to fabricate a semi autonomous and bluetooth controlled floor
cleaning robot that sucks in dust and mops the floor.

Semi 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 semi automatic
floor cleaner for large flooring house-hold purposes and office floors. The
cleaning purpose is specifically carried out by continuous relative motion
between a scrubber and floor surface. During the cleaning and moving operation
suction of dust is carried out by vacuum pump, scrubbing action is done by the
scrubber.

The system consists of hardware, electronic and software components. The

hardware components include DC motors, servo motors, batteries and vacuum
pump. The electronic components consists of arduino board, ultrasonic sensors,
relay, IR sensors, bluetooth module and motorshield. The software used is
Arduino IDE.

Finally, this semi autonomous and bluetooth controlled floor cleaning robot
reduces huge labor cost through less human intervention. It is cost effective.
The flexibility and time saving make the robot a better choice for cleaning the
floor.
 INTRODUCTION
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.

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 be 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 odour 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.

AUTOMATION:
The term automation, inspired by the earlier word automatic (coming
from automaton), was not widely used before 1947, when Ford established an
automation department. It was during this time that industry was rapidly
adopting feedback controllers, which were introduced in the 1930s.

Automation is the technology by which a process or procedure is performed

with minimum human assistance. Automation or automatic control is the use of
various control systems for operating equipment such as machinery, processes
in factories, boilers and heat treating ovens, switching on telephone networks,
steering and stabilization of ships, aircraft and other applications and vehicles
with minimal or reduced human intervention.

Automation has been achieved by various means including

mechanical, hydraulic, pneumatic, electrical, electronic devices and computers,
usually in combination. Complicated systems, such as modern
factories, airplanes and ships typically use all these combined techniques. The
benefit of automation includes labor savings, savings in electricity costs,
savings in material costs, and improvements to quality, accuracy and precision.

Home automation or domotics is building automation for a home, called a smart

home or smart house. A home automation system will control lighting, climate,
entertainment systems, and appliances.

HISTORY:
 In 1996, Electrolux introduced the first “Robotic Vacuum Cleaner”. The
early robotic vacuum cleaners worked well but had frequent problems
with colliding with objects and stopping short of walls and other objects,
as well as leaving small areas not cleaned. As a result, the original
product failed in the market and was discontinued.

 In 2002, iRobot, an American advanced technology company, launched

the Roomba. The Roomba was able to change direction when it
encountered an obstacle, detect dirty spots on the floor, and detect steep
drops to keep it from falling down stairs. It became popular very fast,
which then caused other companies to reconsider the idea of a robotic
vacuum cleaner.

 An advantage using a Robotic Vacuum Cleaner is how quiet it is

compared to regular vacuum cleaners. Also, they are seen as more
convenient to use due to the fact it can vacuum on its own. Robotic
vacuums can be kept under beds, desks, closets, whereas a regular
vacuum cleaner requires a large amount of space. However, a downfall to
a robotic vacuum cleaner is that it takes a longer amount of time to
vacuum an area due to how small it is. They are also relatively expensive.
 The first robot cleaner to be put into production was Electrolux
Trilobite by the Swedish household and professional appliances
manufacturer, Electrolux. Electrolux was successful in purchasing the
model from its inventor, James Dizon. In 1996, one of Electrolux's first
versions of the Trilobite vacuum was featured on the BBC's science
program, Tomorrow's World.

 In 2001, the British technology company Dyson built and demonstrated a

robot vacuum known as the DC06. However, due to its high price, it was
never released to the market.

 In 2002, the American advanced technology company, iRobot launched

the Roomba floor vacuuming robot. IRobot was founded in 1990 by three
roboticist name Colin Angle, Helen Greiner, and Rodney Brooks. The
company was originally dedicated to making robots for military and
domestic use. The Roomba wasn’t the first robot vacuum, but it was the
most successful. Selling up to a million units in 2004. 2005 IRobot
created the scooba it’s the opposite of the Roomba as it scrubs hard
floors. Something that hasn’t been created before. IRobot wasn’t done
their a year later in 2006 they released the dirt dog it cleaned up debris.
The company wanted to make doing chores as simple as possible.

 Initially, iRobot decided to produce 15,000 units and 10,000 more units
depending on the success of the launch. The Roomba immediately
became a huge consumer sensation. By the Christmas season, iRobot
produced 50,000 units to meet the holiday demand. After this success,
major specialty retailers, as well as more than 4,000 outlets such
as Target, Kohl's and Linens 'n Things, began to carry the Roomba.

 Since 2002, new variations of robotic vacuum cleaners have appeared in

the market. For example, the Canadian bObsweep robotic vacuum that
both mops and vacuums, or the Neato Robotics XV-11 robotic vacuum,
which uses laser-vision rather than the traditional ultrasound based
models.

 In 2014, Dyson announced the release of its new robotic vacuum called
Dyson 360 Eye, equipped with a 360-degree camera that is mounted on
the top of the robot vacuum cleaner and is supposed to provide a better
navigation than other brands. The robot vacuum was scheduled for a
 Japan-only release in spring 2015 with international launches to follow
later in the year. Moreover, Dyson announced that the 360 Eye has twice
the suction of any other robot vacuum. Dyson is leading the robotic
vacuum market towards the goals of achieving a reliable and capable
unit. The company is investing robotics and AI to produce better robot
vacuum cleaners in the coming years. It has initiated the establishment of
a new campus in the UK which will require a workforce of around 7000
and an investment of £330 million to create a wider research facility in
Singapore focusing on “connected technology and intelligent machines.”

 iRobot CEO Colin Angle claimed in 2016 that 20% of vacuum cleaners
worldwide were robots.

 As of 2017 23% of vacuum cleaners were robots.

 As of 2018, obstacles such as dog dirt, cables and shoes remain very
difficult for robots to navigate around, according to PerceptIn CEO Zhe
Zhang.

iRobot: Mopping Scooba:

The iRobot first premiered with the self-mopping robot, Scooba, in 2005. The
robot was made to be a self-regulating mop. The Scooba would go through
many different changes through the years.Including the Scooba 450, released in
2014. In 2016 iRobot discontinued the Scooba line in favour of Braava. Braava
has an implemented wall charger, it has no sensors and uses cotton swabs to
clean instead or brushes. In 2018 the Braava Jet 240 received its own app.
Braava sales has risen 65-percent since 2016.
Sweeping and Mopping Braava:
Braava 380T is a high end model of the late stages of the iRobot. The Braava
380T has the ability to do two options in the same pass, which
are, sweep and mop. The device has the efficiency to hold a battery life of up to
around 4 hours. iRobot Braava 380T uses an innovative technology called
“North Star navigation”. The North Star in this context is a special high tech
cube. The cube gives a signal which iRobot uses to position itself in the room. It
will know where exactly in the room it is and which part of the floor it has
mopped or swept. The manufacturer described it as a GPS system for home
robots, which is a great analogy.
 LITERATURE REVIEW

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. In the following
section contributions of market available products in the area is presented.

1. Scooba:
The iRobot first premiered with the self-mopping robot, Scooba, in 2005. The
robot was made to be a self-regulating mop. The Scooba would go through
many different changes through the years.Including the Scooba 450, released in
2014. In 2016 iRobot discontinued the Scooba line in favour of Braava. Braava
has an implemented wall charger, it has no sensors and uses cotton swabs to
clean instead or brushes. In 2018 the Braava Jet 240 received its own app.
Braava sales has risen 65-percent since 2016.

• Manufacturer: iRobot (American)

• Type of Use: Wet Washing of Floor

• Technology: IR with virtual wall accessories

• Price: Rs. 31,392

2.Braava:
Braava 380T is a high end model of the late stages of the iRobot. The Braava
380T has the ability to do two options in the same pass, which
are, sweep and mop. The device has the efficiency to hold a battery life of up to
around 4 hours. iRobot Braava 380T uses an innovative technology called
“North Star navigation”. The North Star in this context is a special high tech
cube. The cube gives a signal which iRobot uses to position itself in the room. It
will know where exactly in the room it is and which part of the floor it has
mopped or swept. The manufacturer described it as a GPS system for home
robots, which is a great analogy.
• Manufacturer: iRobot, KITECH, Sony

• Type of Use: Floor moping for hard surfaces/Dry clean

• Technology: IR with virtual wall accessories for industrial cleaning

• Price: Rs. 44,705

3.Aguabot 5.0:
Aguabot 5.0 is India's 1st Robotic Floor Vacuum Cleaner which comes with an
advanced mopping system that has an integrated water reservoir and smart mop
attachment. The water tank wets the front portion of the smart mop while
keeping the back portion completely dry. The front portion of the smart mop
wets the floor to remove stubborn dirt and debris while the back portion dries
the floor to a spotless clean. The water tank is easy to use back inlet for water
and comes with 2 mops in the box.

The AguaBot 5.0 has 5th Gen software and possesses an AI algorithm for dual
suction control. When the robot finds extra dirt the suction automatically
changes to Turbo mode raising the suction power to 45W. Under Normal mode
the suction is 25W. This control is also available on the remote in-case someone
wants to clean a specific area with higher suction. Under Normal mode the
robot saves battery. The powerful suction eliminates the need of the main brush
making it ideal for cleaning carpets.

•Manufacturer: Milagrow

•Type of Use: Wet Mopping and Dry Cleaning

•Technology: Various sensors (Obstacle, Optical, Accelerometer, Gyro), Extra

thick - Anti Slippage - Doorsill Crossing Wheels

• Price: Rs. 32,990

4. Exilient ReadyMaid Robotic Vacuum Cleaner:
ReadyMaid is robotic, automatic & self sensing. Guides itself around obstacles.
Sensors to detect floor dirt and avoid stair fall. Self recharges on low battery.
Preset cleaning schedule for auto start. Covers approx 3000 sq.ft. on 2 hours
battery charge. Control Floor cleaning area using Virtual Wall Device. With
noise level so low not to disturb you watching your favorite TV shows. That's
true technology at work for you.

Its low height design (12 inch diameter and 3 inch height) helps reach under
tables, sofa or bed that are hard to access. Dual filter dust bin box includes
HEPA filter for trapping micro Particulate Matter (PM 2.5 standards). Powerful
brushless motor for low noise level working. LCD display Infrared remote for
ease of control.

•Manufacturer: Exilient

•Type of Use: Wet Mopping and Dry Cleaning

•Technology: 6th sense, robotic scheduling, charging, UV cleaning, robotic

obstacle detection, Robotic fall detection, All cleaning modes

• Price: Rs. 22,000

 Plan of Action

Components required for Assembly

chassis electrical mechanical software

.

1.arduino

2.battery
Arduino
3.bluetooth program for
Ply wood 1.motors
module the purpose
Fabricated by 2.wheels of semi
4.relay automatedfl
cutting and
3.vaccum oor cleaner,
finishing by 5.H-bridge cleaner
using
Controlled
6.ultrasonic 4.scrubber
Hach saw by
sensor
and files.
Bluetooth
7.infrared module
sensor

8.rainbow
wires
COMPONENTS OF SEMI AUTONOMOUS FLOOR CLEANER

HARDWARE COMPONENTS:
Medium speed battery operated DC motors

Vacuum cleaner

Servo motor

Battery

ELECTRONIC COMPONENTS:

Arduino Uno

Motor shield

Relay

Bluetooth module

Ultrasonic sensor

Infra Red sensor

SOFTWARE:
Arduino Software

DESCRITPTION OF EACH COMPONENT:

Hardware components:
1. DC motors:
A DC motor is any of a class of rotary electrical machines that converts direct
current electrical energy into mechanical energy. The most common types rely
on the forces produced by magnetic fields. Nearly all types of DC motors have
some internal mechanism, either electromechanical or electronic, to periodically
change the direction of current flow in part of the motor.

DC motors were the first type widely used, since they could be powered from
existing direct-current lighting power distribution systems. A DC motor's speed
can be controlled over a wide range, using either a variable supply voltage or by
changing the strength of current in its field windings. Small DC motors are used
in tools, toys, and appliances. The universal motor can operate on direct current
but is a lightweight brushed motor used for portable power tools and appliances.
Larger DC motors are used in propulsion of electric vehicles, elevator and
hoists, or in drives for steel rolling mills. The advent of power electronics has
made replacement of DC motors with AC motors possible in many applications.

2. Vacuum cleaner:

A vacuum cleaner, also known as a sweeper or hoover, is a device that uses an

air pump (a centrifugal fan in all but some of the very oldest models), to create a
partial vacuum to suck up dust and dirt from floors and from other surfaces such
as upholstery and draperies.

The dirt is collected by either a dustbag or a cyclone for later disposal. Vacuum
cleaners, which are used in homes as well as in industry, exist in a variety of
sizes and models—small battery-powered hand-held devices, wheeled canister
models for home use, domestic central vacuum cleaners, huge stationary
industrial appliances that can handle several hundred litres of dust before being
emptied, and self-propelled vacuum trucks for recovery of large spills or
removal of contaminated soil. Specialized shop vacuums can be used to suck up
both dust and liquids.

3. Servo motor:

A servomotor is a rotary actuator or linear actuator that allows for precise

control of angular or linear position, velocity and acceleration.[1] It consists of
a suitable motor coupled to a sensor for position feedback. It also requires a
relatively sophisticated controller, often a dedicated module designed
specifically for use with servomotors.

Servomotors are not a specific class of motor although the term servomotor is
often used to refer to a motor suitable for use in a closed-loop control system.

Servomotors are used in applications such as robotics, CNC machinery or

automated manufacturing.

4. Battery:
 Battery is the main source of power which delivered electrical energy to all the
required components of the robot. We can plan the type and capacity of the
battery when we have clear calculation of total power required to run the robot
and weight of the robot.

Electronic components:
1. Arduino Uno:

Arduino is an open-source hardware and software company, project and user

community that designs and manufactures single-board microcontrollers and
microcontroller kits for building digital devices and interactive objects that can
sense and control objects in the physical and digital world. Its products are
licensed under the GNU Lesser General Public License (LGPL) or the GNU
General Public License (GPL), permitting the manufacture of Arduino boards
and software distribution by anyone.

2. Motor Shield:
The Motor Shield is a driver module for motors that allows you to use Arduino
to control the working speed and direction of the motor. Based on the Dual Full-
Bridge Drive Chip L298, it is able to drive two DC motors or a step motor. The
Motor Shield can either be powered by Arduino directly or by an external
6V~15V power supply via the terminal input. This module can be used for the
development of micro robots and intelligent vehicles, etc

3. Relay:

A relay is an electrically operated switch. Many relays use an electromagnet to

mechanically operate a switch, but other operating principles are also used, such
as solid-state relays. Relays are used where it is necessary to control a circuit by
a separate low-power signal, or where several circuits must be controlled by one
signal. The first relays were used in long distance telegraph circuits as
amplifiers: they repeated the signal coming in from one circuit and re-
transmitted it on another circuit. Relays were used extensively in telephone
exchanges and early computers to perform logical operations.

A type of relay that can handle the high power required to directly control an
electric motor or other loads is called a contactor. Solid-state relays control
power circuits with no moving parts, instead using a semiconductor device to
perform switching. Relays with calibrated operating characteristics and
sometimes multiple operating coils are used to protect electrical circuits from
overload or faults; in modern electric power systems these functions are
performed by digital instruments still called "protective relays".
4. Bluetooth module:

HC‐05 module is an easy to use Bluetooth SPP (Serial Port Protocol)

module,designed for transparent wireless serial connection setup.The HC-05
Bluetooth Module can be used in a Master or Slave configuration, making it a
great solution for wireless communication.This serial port bluetooth module is
fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation
with complete 2.4GHz radio transceiver and baseband. It uses CSR Bluecore
04‐External single chip Rluetooth system with CMOS technology and with
AFH (Adaptive Frequency Hopping Feature).

5. Ultrasonic sensor:

Ultrasonic transducers or ultrasonic sensors are a type of acoustic sensor

divided into three broad categories: transmitters, receivers and transceivers.
Transmitters convert electrical signals into ultrasound, receivers convert
ultrasound into electrical signals , and transceivers can both transmit and receive
ultrasound.

In a similar way to radar and sonar, ultrasonic transducers are used in systems
which evaluate targets by interpreting the reflected signals. For example, by
measuring the time between sending a signal and receiving an echo the distance
of an object can be calculated. Passive ultrasonic sensors are basically
microphones that detect ultrasonic noise that is present under certain conditions.

6. Infra Red sensor:

Infrared sensors (IR sensor) is an electronic device used to sense some aspects
of the surroundings and measure the heat of an object as well as detect motion,
extending the sense of vision to machines.

If vision is the art of seeing the invisible, then IR sensors take it literally as
these sensors use infrared radiations which are invisible to our eyes. This article
aims to familiarize you with the working of IR sensors and provide you with
some cool project ideas using them.

Software used:
Arduino software:
The Arduino integrated development environment (IDE) is a cross-platform
application (for Windows, macOS, Linux) that is written in the programming
language Java. It originated from the IDE for the languages Processing and
Wiring. It includes a code editor with features such as text cutting and pasting,
searching and replacing text, automatic indenting, brace matching, and syntax
highlighting, and provides simple one-click mechanisms to compile and upload
programs to an Arduino board. It also contains a message area, a text console, a
toolbar with buttons for common functions and a hierarchy of operation menus.
The source code for the IDE is released under the GNU General Public License,
version 2.[56]

The Arduino IDE supports the languages C and C++ using special rules of code
structuring. The Arduino IDE supplies a software library from the Wiring
project, which provides many common input and output procedures. User-
written code only requires two basic functions, for starting the sketch and the
main program loop, that are compiled and linked with a program stub main()
into an executable cyclic executive program with the GNU toolchain, also
included with the IDE distribution. The Arduino IDE employs the program
avrdude to convert the executable code into a text file in hexadecimal encoding
that is loaded into the Arduino board by a loader program in the board's
firmware.