Autonomous floor cleaning robot

In the current era, technology is playing a significant role in humans? life by making it simple and relaxed. Prior to the approach of modern technology, life was burdensome and everyday chores consumed too much of our time. As the time passing, technology is upgrading for the easier human task. Flo

Project Title

Autonomous floor cleaning robot

Project Area of Specialization

Robotics

Project Summary

In the current era, technology is playing a significant role in humans’ life by making it simple and relaxed. Prior to the approach of modern technology, life was burdensome and everyday chores consumed too much of our time. As the time passing, technology is upgrading for the easier human task. Floor vacuuming and mopping are the most hated chores in presence. While vacuum cleaners have made home cleaning less demanding, they are largely noisy and bulky for ordinary use but Autonomous vacuum cleaning robot will perform the task like sweeping and vacuuming in a single pass. Keep in mind all the necessities, our proposed system will capable of doing both cleanings and mopping in two phases (i.e. Manual and Autonomous). The Vacuum cleaning system comprising of two DC motor operated wheel that allows 360-degree rotation, side spinning cleaning brushers, mopping matt with a miniature vacuum pump. Four ultrasonic sensors, placed at the front for obstacle avoiding, back and each side of the robot body for helping the robot to navigate and then they are further processed with some algorithm. The robot is powered by a 12V DC rechargeable battery via an embedded battery switch. When fully charged, an 8A capacity battery works continuously for two hours and cleans floor efficiently. With this capability, the device will be deployed for office and home use making cleaning a fully autonomous duty.

Project Objectives

The aim and idea of this project are to reduce human effort and time. It can clean the floor within a small period and more effective. It will be beneficial for the person who spends most of their time working and feel exhausted when it comes to clean the home. It will also help the physically disable person in maintaining their home tidy. We aim to develop such a floor cleaner that will have a robust design and good electronic system that can efficiently clean the environments without damaging its property.

The objectives of this project are to accomplish the task of making an autonomous smart floor cleaning robot and implement this project in the premises of the Electronic Department to vacuum and mop the corridors. The approach of wall following will clean the corridors. In the future, by implementing simultaneous localization and mapping it can also clean the classrooms and labs of the department.

Project Implementation Method

IMPLEMENTATION OF AUTONOMOUS & MANUAL MODE:

• MANUAL MODE:

The main idea is primarily by having the sensor to sense any object like wall and dust. Then send the output data to an Arduino that will control the robot vacuum movement. To facilitate targeted functions interactivity in conjunction with high-quality sensors play essential roles. In this study, an intelligent interface robotic vacuum cleaner is developed

By using an HC-06 Bluetooth module, the user can remotely manipulate its movement with the Android smartphone. There are two kinds of function which are an automatic vacuum cleaning mode and manually controlled cleaning modes are developed. Manual mode allows the users to operate the robot hardly to reach places. The user has the freedom to command the robot to create any pattern. We operate manual mode with 4 Relay module via the Arduino board provide switching phenomena for navigation and Bluetooth controlling.It’s a wireless Bluetooth control floor cleaning machine and will be amazed at the simplicity and effectiveness of the idea. It’s basically DC motors wired in a wheeled plastic container with a cleaning solution placed on top and a scrub attached in the bottom through one of the motors. The mopping brushes clean the floor. Anybody can operate this machine easily.

• AUTONOMOUS MODE:

Automatic floor cleaner is a compact robotics system which provides floor cleaning service in room and big offices reducing human labor. Basically, like a robot, it eliminates human error and provides 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. In order to achieve forward, backward and turning movements of the surface cleaning robot, the motor needs to be controlled in the speed and direction of the rotation.

In order to achieve forward, backward and turning movements of the surface cleaning robot, the motor needs to be controlled in the speed and direction of the rotation. The speed control of a permanent magnet DC motor has two main methods: motor armature series resistance and reducing the supply voltage. The motor armature series resistance has shortcomings, such as it is unstable at low speeds, the speed is not continuous, etc. In addition, the method of reducing the supply voltage does not change the mechanical characteristics of the motor and speed control is smoothed

• ROBOT OPERATING SYSTEM (ROS)

ROS provides a way to connect a network of processes (nodes) with a central hub. Nodes can be run on multiple devices, and they connect to that hub in various ways. after implementation of both modes, we convert the working of our system on a raspberry pi  which gives instruction to ros by means of Arduino 

Benefits of the Project

• Automatically Adjusts to Different Surfaces.

Different floor surfaces require different vacuum settings. There is no need to think about carpet, wood, and tile when you use these machines; they automatically adjust. They can also detect stairs and walls, automatically steering away to prevent unintentional damage to the unit.  

• No Need for Manual Operation

Not only does it improve your cleaning routine, but it does so without putting in any extra strain on you or your situation. Simply turn it on and let it clean.

• Self-Charging

Since robot vacuums can recharge themselves, there is no need to worry about manual recharging. After completing a task, the vacuum will immediately return to its docking station.

• Detects Preset Boundaries

One of the main concerns I’ve heard about robot vacuum cleaners is that they will fall down the stairs, damage walls or knock over another decor. This is really an unnecessary fear since you have the ability to set virtual walls. The virtual wall feature creates boundaries that your device will not be able to cross, removing the threat of broken machines or damaged furniture.

• Low Maintenance

When compared to manual vacuums, robotic vacuum cleaners require only a minimal amount of maintenance. Your only job is to periodically replace the bag or empty the container, as well as keep your floor clear of clutter and other potentially damaging objects.

• Can Clean When You Aren’t Home

This can be especially helpful during vacations, business trips, and other occasions where you will be away from home for extended periods of time., it’s worth pointing out that some robot vacuums can be programmed to automatically start cleaning at specified times of the day.

Technical Details of Final Deliverable

MECHANICAL STRUCTURE OF CLEANING ROBOT:

The mechanical design of the robot is highly robust. Aluminum and Iron was used for making the body structure. Power window motors were used for connecting the driving mechanism and connections were made using bearings, gears, and chains. The robot was designed to perform mobile operations in rough terrains.

The body of the robotic vacuum is composed of the following parts:

• Cleaning brushes
• 2X 1.5A motors
• Vacuum motors
• Suction mouth
• Mopping matt
• Caster wheel
• 12V R385 Water pump
• Level Tube

A circular brush is used to accumulate garbage in the suction mouth area. Handle to steer the vacuum cleaner and to move it at the desired position with the help of wheels. The two circular brushes have to be connected in parallel such that the left one runs anticlockwise and the right one turns clockwise when seen from the front.  The height of the ball caster wheel was adjusted to allow the sweeper brush to just barely touch the floor and pick up any garbage that it passes over. The spinning brush would definitely assist the robotic vacuum s forward movement, as it would basically provide for a third forward-spinning wheel. The Brush Motor is a D.C.  Operated motor which providing the rotary motion of the Brush. This Brush Motor has a rotary motion which is coupled to the Brushes. The Suction Mouth is a part where vacuum is fixed to suck the dirt gets carried towards the Dust Collecting Hose. And covers the required surface of the floor which is to be cleaned. A bigger mop is also attached at the adjacent of the vacuum to wipe out and mopped the floor at the same time

We perform testing in two phases first without mechanical & second with mechanical structure. In the first phase we focus on the back part of the robot that consists of:

• DC Gear motor
• 12V DC battery
• Gear wheels
• 4 relay module
• Battery switch

A gear motor is an all-in-one combination of a motor and gearbox. The addition of a gear head to a motor reduces the speed while increasing the torque output. Most gear motors have an output of 1,200 to 3,600 revolutions per minute (RPMs). This is accomplished by an integrated series of gears or a gearbox being attached to the main motor rotor and shaft via a second reduction shaft. The second shaft is then connected to the series of gears or gearbox to create what is known as a series of reduction gears. Generally speaking, the longer the train of reduction gears, the lower the output of the end, or final, gear will be. The dc gear motors are integrated with the front part of the robot for testing

HARDWARE STRUCTURE

(Up till Midyear Evaluation will be updated late)

Final Deliverable of the Project

HW/SW integrated system

Type of Industry

Education , Others

Technologies

Robotics, Others

Sustainable Development Goals

Good Health and Well-Being for People, Industry, Innovation and Infrastructure, Sustainable Cities and Communities

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com