3. Introduction -
In recent years, robotic cleaners have taken major attention in
robotic research due to their effectiveness in assisting humans in
floor cleaning applications at homes, hotels, restaurants, offices,
hospitals, workshops etc. Basically, robotic cleaner are
distinguished on their cleaning expertise like floor mapping, dry
vacuum cleaning etc. Each cleaning and operating mechanism of
robotic floor cleaners has its own advantages and disadvantages.
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.
4. Necessity -
•Cleaning the floor, especially in the kitchen, is one of life's
annoying little chores that must be performed on a regular basis in
order to avoid a buildup of debris.
• The standard method for floor cleaning relies on sweeping the floor
and thereafter running damp cloth or a mop across the swept floor
while tried and true, this method is time consuming labor intensive
which results in scheduled floor cleaning being skipped for other less
onerous task or even for a beer and a movie and depending on
circumstances.
•In order to overcome time and labor intensity associated with the
floor cleaning. Automated floor cleaning systems have been
proposed. Such system generally fall into one of two bold categories.
5. Previous Technology-
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
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:
Roomba-
Launch Date: 2002 • Manufacturer: iRobot (American) • Type of Use:
Dry
Vacuum • Technology: IR, RF and auto-charging mechanism • Price: $500
Scooba -
Launch Date: 2005 • Manufacturer: iRobot (American) • Type of Use: Wet
Washing
of Floor • Technology: IR with virtual wall accessories • Price: $500
6. B. NEATO Robotics-
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.
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
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.
EYE-360
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.)
9. Sensors & Components-
1. Arduino uno
2. Wi-Fi Module
3. Ultrasonic sensor
4. IR Sensor
5. DC Motors
6. Motor driver Module
7. LCD display
8. Resistor
9. Capacitor
10.Power Supply
10. 1. Arduino uno/ ATmega328 :-
•Microcontroller ATmega328
•Operating Voltage 5V
•Input Voltage (recommended) 7-12V
•Input Voltage (limits) 6-20V
•Digital I/O Pins 14 (of which 6 provide
PWM output)
•Analog Input Pins 6
•DC Current per I/O Pin 40 mA
•DC Current for 3.3V Pin 50 mA
•Flash Memory 32 KB of which 0.5 KB
used by bootloader
•SRAM 2 KB (ATmega328)
• EEPROM 1 KB (ATmega328)
• Clock Speed 16 MHz
11. 2. Wi-Fi Module :-
Power
• VCC-3.0-3.6V
• Standby ~ 0.9uA
• Running ~60-215mA,
• Average ~ 80mA
I/O Features
• Integrated TCP/IP
• Integrated TR switch, LNA,
• Balun
Basic Connection
• VCC - 3.3V
• GND - GND
• TX - RX on Arduino or FTDI
• RX - TX on ARduino or FTDI
• Chip Enable - 3.3V
Wifi Features
• 802.11 b/g/n
• 2.4GHz
• WPA/WPA2
• Wifi Direct
Memory/Speed Features
• 80MHz
• 64KB instruction RAM
• 96KB data RAM
• 64K boot ROM
• 1MB* Flash Memory
Default Baud Rate
• 11520* 8N1
LEDs
• Red: Power
• Blue: TX
12. 3. Ultrasonic sensor :-
• Ultrasonic module HC - SR04 provides 2cm - 400cm non-contact
measurement function.
• The modules includes ultrasonic transmitters, receiver and control circuit.
• The basic principle of work:
(1) Using IO trigger for at least 10us high level signal,
(2) The Module automatically sends eight 40 kHz and detect whether there is a
pulse signal back.
(3) IF the signal back, through high level , time of high output IO duration is
the time from sending ultrasonic to returning. Test distance = (high level
time × velocity of sound (340M/S) / 2,
• Distance Measurement formula is
expressed as:
L = C X T
In the formula, L is the measured distance,
and C is the ultrasonic spreading velocity in
air, also, T represents time
13. 4. IR Sensor :-
The IR sensors are used for the obstacle detection. These are sent as the
input values for the Arduino microcontroller board along with the push button
signals received from the RF transmission. The IR sensors works according to
the following:
The IR sensors emit IR rays continuously in a line.
The rays transmitter and detector are present in the same board.
Once any object comes as an obstacle, the IR rays are reflected back to
the source.
These rays are detected and an output signal Is sent.
This signal is sent to the arduino board for further processing Infrared
radiation is the portion of electromagnetic spectrum having wavelengths
longer than visible light wavelengths, but smaller than microwaves, i.e., the
region roughly from 0.75µm to 1000 µm is the infrared region. Infrared waves
are invisible to human eyes. The wavelength region of 0.75µm to 3 µm is
called near infrared, the region from 3 µm to 6 µm is called mid infrared and
14. 4. DC Motors :-
• 12V DC motors
• 200RPM
• 125gm weight
• Same size motor available in various rpm
• 2 kg torque
• No-load current = 60 mA(Max), Load current = 300 mA(Max)
15. Specifications:
Shaft Type :
Circular 6mm Dia with
Internal Hole for coupling, 23
mm shaft Length
Maximum Torque:
~ 2 Kg-cm at 12V-
60RPM
RPM : 200RPM at 12V
Weight : 145 Gms
Max Load Current: ~350mA at 12V-60RPM
16. L293D Logic Table.
Lets consider a Motor connected on left side output pins (pin 3,6). For rotating the
motor in clockwise direction the input pins has to be provided with Logic 1 and Logic
0.
• Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]
• Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]
In a very similar way the motor can also operate across input pin 15,10 for motor on
the right hand side.
17. • This setup of hardware with a combination of software gives better
accuracy and reduces the work load. Man power is minimized.
• It have Low cost. It is aTime Consuming Device Making a small
machine brings a flexibility to do work.
Conclusions-
