2025
Problem Statement
Conventional cleaning robots mainly focus on either vacuuming or sweeping, often lacking the
integration of multiple cleaning functions. Our project aims to develop an autonomous vacuum
robot that combines strong suction power with intelligent navigation and environmental sensing
for efficient home cleaning.
Equipped with a high-speed BLDC vacuum motor, obstacle-avoidance sensors, and AI-powered
visual mapping, the robot navigates independently while effectively collecting dust and debris.
Its compact design, sealed dust bin, and long battery life enable thorough cleaning of multiple
rooms on a single charge.
By integrating advanced hardware and software components, our vacuum robot delivers a
practical, reliable, and user-friendly cleaning solution, making automated floor maintenance
easier and more efficient.
Team member details
Name Mail Id College Name
Nadhishri K 23l161@[Link] PSG Institute of Technology
and Applied Research ,
Coimbatore
Saswin K S 23l191@[Link] PSG Institute of Technology
and Applied Research ,
Coimbatore
Srivishnu Karthik B 23l199@[Link] PSG Institute of Technology
and Applied Research ,
Coimbatore
Vishnu Priya M 23m157@[Link] PSG Institute of Technology
and Applied Research ,
Coimbatore
Sanjeev I 23m146@[Link] PSG Institute of Technology
and Applied Research ,
Coimbatore
Objectives
1. Design and develop a compact autonomous vacuum robot capable of efficient navigation
and obstacle avoidance in indoor environments.
2. Integrate a high-performance BLDC suction motor to ensure strong and consistent dust
and debris collection.
3. Implement AI-driven visual mapping and sensor fusion to enable accurate environment
perception and route planning.
4. Develop a sealed and easy-to-remove dust bin to contain collected dust without leakage
and facilitate user maintenance.
5. Optimize the power management system to provide extended runtime for cleaning
multiple rooms on a single battery charge.
Ensure modular hardware and software architecture for ease of prototyping, testing, and future
enhancements.
Institute Facilities
Our institute is well-provided with the following labs for the development of this project:
Embedded Systems Lab – Microcontrollers (STM32, ESP32), real-time control, IoT setups.
Mechatronics Lab – Robotics chassis, motor assemblies, mechanical design tools.
Electronics Lab – PCB design, soldering, circuit prototyping, power management modules.
These facilities offer end-to-end infrastructure for the construction and testing of the robotic
cleaning bot from ground zero.
Electronics and Mechanical Components
COMPONENTS SPECIFICATIONS FUNCTIONS
Main controller, navigation, AI
Raspberry Pi 4 B Quad-core, 4GB RAM processing
Visual mapping and object
Raspberry Pi Camera Module 3 12 MP detection
Dual-channel, up to 1.2A
TB6612FNG Motor Driver continuous Controls DC geared motors
Drive wheels with torque for
DC Geared Motors 12V, 200 RPM carpet/floor
HC-SR04 Ultrasonic Sensors Range: 2–400 cm Obstacle avoidance
PMS5003 PM2.5/PM10 detection Air quality & dust detection
Outrunner BLDC Motor ~30,000 RPM High suction for vacuum
MOSFET Module High current switch Controls BLDC motor
Buck Converter 14.8V → 12V and 5V, 3A Stable power for Pi & sensors
LiPo Battery 4S 14.8V, 8,000 mAh, 30C Power source
PC/ABS shell
Chassis Structural base
Wheels 2 drive + 1 caster Mobility
Dust Bin ~500 ml capacity Dust storage
Suction Housing Custom 3D print Directs airflow
Rough Specifications
1. Form factor: Circular, diameter 450 mm, height 120 mm
2. Drive: 2 high-torque DC gear motors with encoders + 1 rear caster wheel
3. Weight: ~ 3.8–4 kg (with battery + dust bin)
4. Battery: 14.8 V Li-ion, 5–6 Ah (45–60 min runtime)
5. Speed: ~0.3–0.35 m/s (safe indoor navigation)
6. Dust bin: 1.2–1.5 L capacity, slide-out with HEPA filter
7. Tank capacity: ~0.5 L water for mop add-on
8. Controller: Raspberry Pi 4 + motor driver + power management PCB
Battery Sizing
Type: 4S LiPo Battery
1. Voltage: 14.8 V (nominal)
2. Capacity: 8000 mAh (8 Ah)
3. Discharge Rate: 30C
4. Purpose: Powers all motors and electronics; split into two rails — direct 12V for motors
and regulated 5 V for Raspberry Pi and sensors.
5. Estimated Runtime: Approximately 70–80 minutes of continuous operation.
Specifications of Motor
Drive Motors:
1. Type: DC Geared Motors
2. Voltage: 12 V
3. Speed: 200 RPM
4. Purpose: Drive wheels for robot mobility.
Vacuum Motor:
1. Type: Outrunner BLDC Motor
2. Speed: ~30,000 RPM
3. Purpose: Generates high suction power for vacuuming.
Weight of the System
Total weight: Approximately 3.8 - 4 kg [Includes chassis, motors, battery, electronic components,
dustbin, and housing.]
Details of the Controller
Controller : Raspberry Pi 4 B
Processor: Quad-core ARM Cortex-A72
RAM: 4 GB
Role: Main processing unit for navigation algorithms, camera input processing, sensor data
fusion, and motor control.
Additional Components:
I. Raspberry Pi Camera Module 3 (12 MP) for visual mapping
II. TB6612FNG motor driver for DC motors control
III. MOSFET module for high-current BLDC motor switching
Chassis and Wheels
Body & Frame
● PC/ABS shell – Impact-resistant, low noise, lightweight, good surface finish
● Aluminum frame – Provides stiffness, helps in heat dissipation, controls EMI/ESD
● Specifications – Durable, quiet, compliant, cost-effective for basic cleaning robots
Wheels
● 2 Drive wheels
● 1 Caster wheel
Cleaning Mechanisms
1. Main brush: Dual rubber rollers (low maintenance).
2. Side brush: 1 only.
3. Mop: Dual rotating mop pads + auto-lift for carpets.
4. Dust bin: ~450–500 ml onboard, auto-empty to 2.5 L dock bag system with roll-dispenser.
5. Water tanks: 3L clean + 3L dirty.
6. Dock features: Mop wash, hot air dry, bag auto-dispense.
[Link] Components Layout of Cleaning Robot [Link] Diagram of Robot Control System
3. External Components of Cleaning Robot
