This document describes the design and development of an automatic cleaning system by three students. The system uses sensors, a microcontroller, motors and other electronic components to automatically clean an area without human interaction. It follows a preset path while avoiding any obstacles detected. Calculations are shown for the time taken to clean a sample room, the distance the system can travel on a single battery charge, and discussions of ways to improve the design to reduce costs and enhance performance.

1. COMPUTER INTEGRATED
MANUFACTURING
INNOVATIVEASSIGNMENT
AUTOMATIC CLEANING SYSTEM
PREPARED BY: MURTAZA S. MODI (18BME066)
ASHOK J. MEWADA (18BME065)
UDIT J. MODI (18BME068)
PRESENTED TO: PROF. ASHISH GOHIL

2. RESEARCH PAPER - I
DESIGN AND DEVELOPMENT OF AUTOMATIC
CLEANING SYSTEM
INTRODUCTION
A simple automatic system that uses some prefixed algorithms and
programs to clean the specified area is called an Automatic
cleaning system.
Reduces Human interaction
Easy operation and activation.

4. CAD MODEL AND OTHER PARTS

5. DESIGN METHODOLOGY
Components include:
 Motor
 Sensors
 Microcontroller
 Motor driver
 Wheels
 Other electronic components

6. WORKING METHODOLOGY
Automatic Cleaning Robot starts by switching on the device, the robots move forward by checking
for obstacles and avoids them if any and if any obstacle is there in its path it deviates from that and
cleans the entire space.

7. Follows set path.
Path change on obstacle detection.
Follows Simple snake pattern
L293D Motor Driver controls major functions.

8. Simplified flowchart of the working of the robot:-

9. CALCULATIONS
 Design details of robot of Aluminum Composite Panel(ACP) & Fiber-Reinforced Plastic
sheets(FRP) and the components used:

10.  Time Required to Clean an Empty Room:-
Length of room (Assumption) = 4.8 m (L) • Breadth of room (Assumption) = 4.5 m (B)
 Speed of Robot:-
• Number of drive motors = 2 • Radius of drive wheel (R) = 0.056 m
• RPM of each drive motor (N) = 60 RPM • Width of the robot (W) = 0.33 m
• Speed (V) = R*ω • ω = (2*π*N)/60
• ω = 6.28318 ≈ 6.28 radians/second • V = 0.35 m/s
Assume efficiency of power delivered to motor = 90%
 Speed of Robot (Vr) = V*0.9 = 0.315 m/s
 Time taken by the robot to cover the room length once (t) = L / Vr = 4.8/0.315 = 15.238
seconds.
 Number of passes required for robot to cover the entire room = Breadth of the room (B) /
Width of the robot (W) = 4.5/0.33 = 13.63 passes ≈ 14 passes

11.  Total time taken by the robot to cover the entire room = 14*15.238 = 213.332 seconds ≈ 3.56
minutes ≈ 3 minutes 34 seconds (Max).
Distance that can be cleaned:-
 Maximum load condition on motors, current drawn by each motor = 1000 mA = 1A.
 Discharge rate of the battery = Discharge rate of lead acid battery at 1-hour rate = 0.78 Ah.
 As the motor draws 1A current according to our consideration, total time required for the
battery to get completely discharged = 46.8 minutes.
 Since lead acid battery shouldn’t run past 80% of its charge, leaving 20% left, time taken to
discharge 80% of initial charge = 46.8*0.8 = 37.44 minutes.
 Since number of motors = number of batteries = 2 and assuming each motor draws equal
current of 1A from different batteries.
 Total runtime of robot = 37 minutes 26 seconds = 2246 seconds.
 Distance covered by robot = Velocity of robot(Vr) x Total runtime of robot = 0.315*2246 =
707.5 m.

12. RESULTS AND DISCUSSION
Torque required for the robot to move was estimated
The shape and size of the robot were determined
Replaced IR sensors
Replaced non-contact sensor with bumper switches
Robot covered 90% to 92% of the area.
In Auto mode, it took 10 to 15 minutes to clean room.
The robot runs for a total time of 35 minutes on full charge.

13. CONCLUSION AND FUTURE SCOPE
Reduce the cost
More compatible
Enhance the navigation performance
Optical encoders
Cleaner brushes
Lithium polymer batteries

14. REFERENCES
 Research Paper : Design and Development of Automatic Cleaning and Mopping
Robot To cite this article: P.S. Adithya et al 2019 IOP Conf. Ser.: Mater. Sci.
Eng. 577 012126.

15. RESEARCH PAPER – II
AN EXPERIMENTAL STUDY OF AUTOMATIC CLEANING TOOL
AND ROBOT FOR FACADE IN HIGH-RISE BUILDINGS
INTRODUCTION
Increasing number of huge skyscrapers.
Safety accident rate increases each year.
Requirement of Automation for decreasing such disasters.
Resolving imbalance in demand and supply of workers.
Used in High rise buildings where manual cleaning of exteriors is
disastrous, and such Automatic cleaning systems are deployed.

16. PRESENT STATE OF CLEANING
 Cleaning by a worker in a cage of a gondola that is connected to the top of a building.
 For the exterior wall cleaning of common high-rise buildings, conventional ropes, as illustrated
in the fig. 2, are mostly used.
 The cleaning water for cleaning the exterior walls is supplied from the building, and the worker
cleans with cleaning tools

17. CLEANING TOOL AND ITS COMPOSITION
Comprises of:
 Nozzle
 Brush roller
 Squeezer
Parts are made of anodized Al6061 and acetal to reduce the weight.

18. Nozzle part is a device for spraying the detergent and the cleaning water.
Acid or alkaline detergent
Nozzle:
 Bearing
 Straight-lined brush
 Brush roller
 Rubber squeezer

19. RESULTS AND DISCUSSION
 Figure showing the experimental setup having cleaning
tool, test bed and utility system.
 The graph displayed depicts the sprayed and retrieved
water flow on changing nozzle injection pressure.

20. Weight optimization of system
Optimization of the working speed, retrieving rate of the cleaning
water
Variable divided brush roller
CONCLUSION AND FUTURE SCOPE

21. REFERENCES
 Research Paper : AN EXPERIMENTAL STUDY OF AUTOMATIC CLEANING
TOOL AND ROBOT FOR FAÇADE IN HIGH-RISE BUILDINGS Jin Koo Lee1 ,
Jun Hong Ryu2 , and Dong Ju Lee3 *.