CHAPTER-1

INTRODUCTION

1.1 GENERAL:

In today’s life, time management is considered as one of the most important factors. A
very notable household chore is floor cleaning which is often considered as difficult and
boring job. In most cases, cleaners are hired to do the task rather than the household
residents do it. The discomfort posed by this recurrent chore necessitated development of a
vacuum cleaner that could assist human with such a task. A vacuum cleaner is an
electromechanical appliance commonly used for cleaning floors, furniture, rugs and
carpets by suction. An electric motor inside the appliance turns a fan which creates a
partial vacuum and causes outside air to rush into the evacuated space. This forces any dirt
or dust near the nozzle into a bag inside the machine or attached to the outside.

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 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.

The demand to reduce manpower level has led to the design and development of
automatic control systems, which enables unattended operations of the machinery. The
current automatic integrated systems cover all aspects of Automatic vacuum cleaner
operations.

Current vacuum cleaners, although efficient, are rather bulky and therefore require
large manpower for proper functioning. The former vacuum cleaners use to generate
suction and gathered dust with a rotating brush, the latter worked with a belt driven by
hand-cranked fan making it awkward to operate. In the late 1990s and early 2000s, more
efficient sweepers equipped with limited suction power were developed. Depending
on the design target, robotics vacuum cleaners are appropriate for offices, hotels,
hospitals and homes.

However, most cheap cleaners need a better cleaning pattern algorithm for efficient
functioning while the smart ones are rather costly, and thus beyond the reach of most
homes. These challenges were carefully considered while designing the vacuum cleaner.
1.2 MODULES OF OPERATION:

The current robot vacuum cleaner was fabricated from computer scraps, ultrasonic
sensor and a NODEMECU 8266 microcontroller making it relatively cheap. It navigates
rooms using a patterned algorithm and its cleaning mechanism is enhanced by two rotating
sweepers placed side by side. Its truncated shape has been carefully considered in the
design of the sweepers while its effectiveness was evaluated.

The robot is designed keeping in mind following modules of operation:

 Cleaning Mechanism.

 Directional Control with Automatic Obstacle Avoidance.

 Less Space Consuming.

 Avoid Falling from certain Height.

1.3 MOTIVATION:

The motivation to undertake this project is to hone professional skills in software

development and integration with hardware. The work has been undertaken with the usage
of state of the art technology to meet the project objectives.

The IOT based project entitled “SOLAR VACCUM CLEANER FOR WET AND
DRY FLOORS” is selected because, this is a specialized field and we can explore
individual research attitude, analytical, numerical and experimental skills. During the
project work, we could explore individual technical skills, knowledge, creativity and
practical application of theoretical studies. It gave opportunity to learn from the best
engineers, in encouraging working environment. The successful design and development
of the project has fulfilled desired motivational objective for the team members.

As a learning value, at the workplace, over view of component and systems

functioning and its design process was provided including physical demonstration of each
sub part. It was allowed to interact with engineers working on these systems and
components, and see various facilities, used for design, development, integration and
testing purpose. It has assisted individual in gaining valuable real work experience. It
was possible to get insight into the way technical business activities take place and
challenges faced on daily basis. It has provided opportunities to explore technical interest
and develop professional skills and competencies for the individual. It has provided
opportunity to learn balance between office work, college study and social life, thus
capability to handle more responsibilities.

During the project work, we could apply academic knowledge and concepts in to real
life professional environment. Overall, this project work, provided necessary technical
skills and professional experience, which is essential for a successful engineer and career
development. The project has helped, learn resolving practical problems encountered
during applicability of academic knowledge in real technical world to design, develop,
integrate, fabricate and assess its functionality.

1.4 OBJECTIVES:

Objective of this project is to design and develop IOT based smart vacuum cleaner,
that will help to make household work convenient and much easier.

In this project new type of home intelligent cleaner adopted the ultrasonic sensor,
which has the function of the real-time environment perception, is introduced, and this
cleaner driven by dc motor has the ability of autonomous working by itself and the
functions of the automatic detection and obstacle avoidance. This project adopts open CV
technique for floor coverage task, and designs synthesis detection system based on sensor
arrays finding method technology according to algorithm characteristics, experimental
results for obstacle detection by static finding indicates that the design detection systems
improves cleaning robot’s environment perception and path search ability greatly.

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. 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.

1.5 PROBLEM STATEMENT:

To maintain Cleanliness daily household chores like Dusting and Sweeping has to be
repeated every day. But this physical activity of cleaning can be harmful at times. To
counter such problems there are several machines which are designed for ease to humans,
breaking down the complex tedious task into simpler one. But these vacuum cleaners are
complex, bulky and heavy making it tedious to move and clean. Vacuum cleaners available
in market consume hundreds to thousand watts of electricity which in turn increases the
electricity bill. The operating electric motor becomes too hot and burnout the vacuum
cleaner motor.
 While in physical activity of dusting certain particles which when inhaled cause
problems in respiratory system of that person which in turn lead to more health issues.
Several machines available in market employ specific mechanical and electrical systems to
ensure a clean household. Some vacuum cleaners don’t offer a reusable dustbin bag.

These machines make life and cleaning task more difficult because one has to be
physically present for mobility of machine. To reduce such efforts for cleaning our project
aims to create a device that is low cost, utilizing local resources to design which serves the
purpose of sweeping and dusting from a place.

1.6 FEATURES:

The robot is built to help in daily cleaning tasks and simplify it. It brings together both
dry and wet cleaning operations using a vacuum cleaner as well as wet cleaning brush. The
robot uses a battery that is constantly charged by a solar panel as it is drained by the
motors. This provides a longer battery life when it is exposed to sun rays. The system
consists of a vacuum cleaner with added ultrasonic sensor for obstacle detection. The robot
does not bump into any obstacle. The robot is integrated with a water tank that sprays
water in front of robot which is followed by 2 brushes to clean the floor surface. Thus we
here create a remote controlled floor cleaner robot.

The robot is made to provide following features:

 Easy and instant cleaning.

 Vacuum Cleaning for dust collection.

 Water tank and brush for wet cleaning.

 Solar power supply for long battery life.

  Remote Controlled Operation.

1.7 SCOPE OF THE PROJECT:

The purpose of this project is to design and implement a Vacuum Cleaner which runs on
solar energy and is operated by mobile application and uses machine learning algorithms
to clean. This smart vacuum cleaner cleans both dry and wet floor as well. Its main
objective is to maintain and keep your surroundings clean. Solar energy is quite cost
effective and saves billing. Solar energy is an integral source of energy that makes
optimum utilization of the nature and store it widely so that it can be used in the night time
without any kind of additional hassle.

The proposed system is efficient in terms of cost, time and management. It is user-friendly
feature enables us to access it from any place through the mobile application.

1.8 ORGANIZATION OF THE PROJECT REPORT:

The Project Report is categorized into 5 chapters in the following style:

 Chapter 1 - presents the overview, research problem, objective

and scope of the proposed work.

 Chapter 2 - provides the details about the various literatures

reviewed relevant to the proposed work.

 Chapter 3 - discuss about the methodology and design.

 Chapter 4 - shows the Result and analysis.

  Chapter 5 - provides the Conclusion and Future scope.

CHAPTER-2

LITERATURE SURVEY

2.1 INTRODUCTION:

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. By the help of machines also we can
get huge efficiency because there is no chance of human error there. The aim of this
project work is to design and develop process for cleaning the floor having wet and dry
surfaces. It is very useful for cleaning the wet as well as dry floors.

This floor cleaning machine consisted of moisture cotton mop, swiping brushes, wipers
and vacuum cleaner for reducing the cleaning time. The study comprehends of automated
vacuum cleaner which having components to DC motor operated wheels, roller brush,
cleaning mop, the garbage container and obstacle avoidance sensor.

We have done comprehensive study of latest technological trends and efficient systems.
We have undertaken extensive literature survey to study automatic vacuum cleaner
parameters. A well-planned literature survey has ensured availability of information for
efficient system performance, technology usage, specialization and management of
available resources. IOT based systems are also studied for automatic vacuum cleaner
system.

Our study includes the current knowledge, findings, as well as theoretical and
methodological contributions for development of automatic vacuum cleaner using image
processing. It involves concept development, which is a set of activities carried out in the
system engineering to collect parameters of operational needs and develop suitable system
for implementation.

Design of smart vacuum cleaner which are available in the market are using Arduino
Uno, Motor, Ultrasonic Sensor, and IR Sensor in order to achieve the goal of cleaning
process. Vacuum cleaner Robots have several criteria that are user-friendly.

2.2 REVIEW OF SOLAR BASED SMART VACCUM CLEANER:

An autonomous vacuum cleaner robot are able to randomly navigate through a room
or a house with the minimum human assistance, the following specifications that are
found:

 Obstacle avoidance.
 Floor avoidance.
 Collision Detection.
 Dry cleaning.
 Wet cleaning.
 Status display.
 Automatic system.

Four motors are used for the purpose like movement of robot, water pump. Relays are
used to drive the water pump and cleaner motor. LM293D IC are used to drive wheel
motor. All the information are displayed on LCD. These specifications correspond to some
of the expected behaviours that will be programmed into the robot.

It consists of four dedicated wipers that are attached to the platform. Among them, one
of the wipers is cylindrical and the others are flat in geometry. The flat wipers are
symmetrically placed at the bottom of the Platform arranged in ‘V’ shape so as to ensure
efficient cleaning and collection of dust. The roller wipers are placed at the end of the
platform using proper links and a driver motor. The cleaning is made efficient using wet
wiping system. This system employs a small bottle that carries water in it. This ensures a
complete cleaning of the surface. Only the wipers in the front are made wet. This ensures
that the wiper from the back remove the water from the surface.

Now a days, robot operates in autonomous mode as well as in manual mode along with
additional features like scheduling for specific time and bagless dirt container with auto-
dirt disposal mechanism. This work can be very useful in improving life style of mankind.

Proposed design is being operated in dual modes. In one of the modes, the robot is
fully autonomous and making decisions on the basis of the outputs of infrared proximity
sensors, ultrasonic sensors and tactile sensors after being processed by Arduino (mega)
controller and control the actuators (2 DC encoder motors) by the H-bridge driving
circuitry. In manual mode, the robot can also be used to clean a specific area of a room by
controlling it manually from laptop with a Graphical User Interface (GUI) in Visual Studio
(C# programming language) via Bluetooth connectivity.

The base of the body comprises of acrylic sheet, two encoder motors along with Teflon
tires having O-rings on them for avoiding friction, two ball casters of adjustable height
having frictionless steel balls, aluminium angular brackets and aluminium holders for two
lead acid batteries of 12V and 1.2Ah rating. Cleaning assembly includes a DC geared
motor, sprockets for moving chain from geared motor to rotating brush and two aluminium
rods for supporting vacuum cleaner mechanism and dirt compartment. This DC geared
motor has been fitted on one side of acrylic sheet with aluminium holder and sprockets
installed with it which have been fitted into shaft of motor. All components are installed on
lower side of acrylic sheet so that center of gravity should be lower and robot would be
stable.

In some of the vacuum cleaners, all hardware and software operations are controlled by
AT89S52 micro-controller. RF modules have been used for wireless communication
between remote (manual mode) and robot and having range 50m. This robot is
incorporated with IR sensor for obstacle detection and automatic water sprayer pump. Four
motors are used, two for cleaning, one for water pump and one for wheels. Dual relay
circuit used to drive the motors one for water pump and another for cleaner. In the
automatic mode robot control all the operations itself and change the lane in case of hurdle
detection and moves back. In the manual mode, the keypad is used to perform the expected
task and to operate robot.

RF module has been used to transmit and receive the information between remote and
robot and display the information related to the hurdle detection on LCD. The whole
circuitry is connected with 12V battery.

Unlike other floor cleaner robots this is not a vacuum cleaner robot; it performs
sweeping and mopping operation. Detachable mop is used for mopping. In the automatic
mode, robot performs all operations itself. Firstly, robot starts, it moves forward and
perform cleaning action. For obstacle detection and to avoid hurdle IR sensors have been
used.

If any hurdle is detected then robot change the lane automatically, does not stop and
starts cleaning action. It follows zigzag path.

For user convenience automatic water sprayer is attached which automatically spray
water for mopping, therefore no need to attach wet cloth again and again for mopping.Four
motors have been used to perform respected operations like to move the robot, for water
pump and for cleaner.

Relays are used to drive the water pump and cleaner motor. LM293D IC is used to drive
wheel motor.