Automatic floor cleaner

This power point presentation gives information about the general construction and working of floor cleaning bot with help of block diagram.

1. Automatic Floor Cleaning Bot MGM’s Jawaharlal Nehru Engineering College Project Guide- Prof. N.S. Hussain Project Group- Sandeep Aghav (407110) Krushna Pawar (407123) Sumit More (407133)

2. Contents- Introduction History Block Diagram Features Description Sensors & Components Ideology Previous Technology Applications Advantages Conclusion Reference

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. 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. 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 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.)

7. Block Diagram-

8. Sensors & Components- Arduino uno Wi-Fi Module Ultrasonic sensor IR Sensor DC Motors Motor driver Module LCD display Resistor Capacitor Power Supply

9. 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

10. 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

11. 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

12. 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 the region higher than 6 µm is called far infrared.

13. 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)

14. 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

15. 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.

16. 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-