Automatic Cleaner Robot - International Engineering Research

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International Engineering Research Journal (IERJ), Volume 2 Issue 8 Page 2617-2620, 2017 ISSN 2395-1621
Automatic Cleaner Robot
#1
ISSN 2395-1621
Shripad Malavadikar, #2Swapnil Mungale, #3Toshika Johri,
#4
Harshad Lokhande
1
shripadmalavadikar@gmail.com
2
swapnilmungale@gmail.com
3
toshika.johri@gmail.com
4
lokhande.harshad@gmail.com
#1234
Department of Electronics and Telecommunication Engineering
NBN Sinhgad School of Engineering,
Savitribai Phule Pune University, Pune, Maharashtra, India.
ABSTRACT
ARTICLE INFO
Robots have become an integral part of 21st century due to their excessive use in
household, hotels, offices etc. Cleaning which is of paramount importance for healthy
living is being neglected due to lack of time arising from busy lifestyle. Taking this in
consideration we are proposing an automatic cleaner robot that can perform all the
cleaning activities without any human guidance. Even though there are various
cleaner robots that are available today but their high costs and low versatility are the
major reasons that hold back their selling rates. Therefore the aim of this project is to
design a cost efficient, low maintenance and a versatile robot that can perform floor
mapping, dry vacuum cleaning as well as wet cleaning. It operates in an autonomous
mode along with some additional features like scheduling for specific time and dirt
container with auto dumping mechanism. This robot is basically designed for the
handicapped people having mobility issues to clean the house without any external
help. In addition to it, for commercial purpose it will save the time and enhance the
lifestyle of individuals.
Article History
Received: 16th March 2017
Received in revised form :
16th March 2017
Accepted: 18th March 2017
Published online :
25th March 2017
Keywords: Robot, Cleaning, Vacuum, Dry, Wet, Floor mapping, Lifestyle
I.
INTRODUCTION
Even though there is considerable work done in this
application of robotics, none of it concerns with the
cleaning of both dry and wet floors by respective
detection. The conventional vacuum cleaner consists of
large mechanical and electrical parts which are more
costly and consume more power whereas the autonomous
cleaner robots consists of low power consumer electronics
and mechanical parts and it can operate during power
outage period and does not need any human guidance.
Robotic cleaners are basically distinguished on their
cleaning expertise like floor mapping, dry vacuum
cleaning etc. The motto of this project is to evaluate cost
efficient, light weight, less noisy and low maintenance
robotic system.
Simultaneously having the facility of automatic
avoidance of any obstacles and capable of finding its way
around after fall from a height. A couple of spinning
brushes are attached to the underneath of the cleaning
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machine to accumulate dirt, debris during the move along
the way. Robot can clean along edges and into other hardto-reach places. They are guided by certain algorithms for
path planning and navigation, accordingly robot cleans
the surface. Sensors present in it are used for obstacle
detection. The robot’s bumper prevents it from bumping
into walls and furniture by reversing or changing path
accordingly.
The robot will remember its path to docking station as
it starts mapping area and path of motion right from when
it undocks from the station. When the battery charge is
below a certain percentage, the robot shall start finding its
way back to the docking station and get charged before
resuming cleaning.
II. LITERATURE REVIEW
Recently there is surge of innovative cleaner robots in
the market. All these robots are based on the technical
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International Engineering Research Journal (IERJ), Volume 2 Issue 8 Page 2617-2620, 2017 ISSN 2395-1621
analysis of research work published in some of the papers
described below. Manreet Kaur and Preeti Abrol, in the
paper “Design and development of floor cleaning robot”
have made the cleaning using automatic and manual
modes. They have used RF modules for wireless
communication between remote and robot having range
of 50m. In the automatic mode, robot controls all
operations itself and changes the lane in case of hurdle
detection and moves back. In the manual mode keypad is
used to perform the expected task and to operate the robot.
The drawback in this model is that it does not have the
feature of self-charging.
The another paper which was pubished by Jens Steffen
Gutmann, Kristen Culp, Mario E. Munich and Paolo
Pirjanian in the paper “Social impact of a systematic floor
cleaner” explain mint cleaning robot which is an
automatic cleaning robot that sweeps and mops hard
surface floors using dusting and moping cloth was
developed. It investigates the product’s social impact with
respect to the attitude of customers towards a systematic
floor cleaner and how much a robot influences a lifestyle.
Systematic cleaning was an important feature and
modifications to the environment to support the
navigation of the robot. The robot employs a systematic
cleaning strategy that maps the environment using GPS
like indoor localization.
Many more systems were proposed and among that is
the system proposed by J.Y. Sung, R. E. Grinter and H. I.
Christensen in “Housewives domestic robot technology
international journal of social robotics”. In this paper a
new type of home intelligent cleaner adopted the
ultrasonic and IR sensor array which had the function of
real time environment perception is introduced and the
cleaner is driven by step motor has the ability of
autonomous working by itself and the functions of
automatic detection and obstacle avoidance. This paper
adopts grid scan algorithm placed on electric map, realize
floor coverage task and designs synthesis detection
system based on sensor array finding method technology
according to algorithm characteristics. However this
system did not support wet detection and it only
performed dry cleaning.
Therefore we are proposing a system to overcome the
drawbacks of the existing system.
III. BLOCK DIAGRAM
The main components of this proposed system are
raspberry pi microcontroller, sensors and motor assembly
interacting with each other as shown in block diagram.
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Fig 1. Basic block diagram
IV. WORKING
For the aimed feature of application, the robot will be
provided with a wet surface detector as he moves along
his path sequentially mapping the given area while
sweeping and vacuuming the floor simultaneously. As
soon as a wet patch is detected, the cleaning mechanism
shall change from sweeping and vacuuming to
wiping/soaking and blow drying. The mechanism shall
revert back to dry cleaning once the wet detector shows
no sign of wet floor. The robot shall avoid bumping into
obstacle & falling down from edges. These goals will be
achieved by using infrared sensors, cliff sensor and US
sensors. The robot is fitted with IR sensors on all sides
which detect the surrounding walls and helps the robot
map the area and choose its paths accordingly. Cliff
sensor is nothing but IR sensor facing downwards so that
it could detect the increased distance from floor when it
happens to be going over an edge. This way, the robot
shall stop immediately and alter its path.
The robot will remember its path to docking station
as it starts mapping its area and path of motion right from
when it undocks from the station. When the battery
charge is below a certain percentage, the robot shall start
finding its way back to the docking station and get
charged before resuming cleaning. The robot is fitted with
two rotating brushes parallel to the cleaning surface and
rotating in opposite directions such that the dust in the
way is collected and fed to the vacuum mouth which is
just behind the rotating brushes. For the wet cleaning, the
robot shall first soak the wet patch with a sponge and then
the vacuum function shall change to blowing which
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International Engineering Research Journal (IERJ), Volume 2 Issue 8 Page 2617-2620, 2017 ISSN 2395-1621
should dry the wet patch. Once the level of wetness is
diminished, the robot shall move on its path.
Fig 2. Docking Station
V. ALGORITHM
Robot will follow the spiral area coverage pattern. It
will assign coordinates to its instantaneous position. By
using two IR Sensors on Left and Front direction, it will
sense the obstacles and shape of the room to carry out its
operation.
Whenever it reaches a corner, i.e., both the sensors
sense the wall, it will take a right turn by rotating
corresponding motors in appropriate manner. While doing
so, it also stores co-ordinates at every point until it returns
to a unit before its original position.
Fig 4. System flow diagram
VI. MECHANICAL DESIGN
Mechanical design consist of chassis, brushes, vacuuming
and dirt disposal.
Chassis- Especially designed wooden circular chassis
with 30cm diameter, two floored has been used as a base
to mount all the components of the robot.
Brushes- The robot is fitted with two rotating brushes
parallel to the cleaning surface and rotating in opposite
directions such that the dust in the way is collected and
fed to the vacuum mouth which is just behind the rotating
brushes.
Wet sponge mop- When the wet surface is detected by the
sensor then the sponge mop will be lowered from the base
of robotic assembly to clean the wet surface. The wet
sponge is connected by a solid contact.
Fig 3. Path Tracing Algorithm
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Vacuum and dirt disposal- When the two brushes rotate in
the opposite direction parallel to the cleaning surface, dust
collected is fed to the inlet of vacuum which is located
right behind the brushes. The collected dust is then
accumulated in a dirt container which can be
automatically emptied as needed.
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International Engineering Research Journal (IERJ), Volume 2 Issue 8 Page 2617-2620, 2017 ISSN 2395-1621
VII. CONCLUSION
Therefore we have developed an automatic
cleaner robot that performs dry cleaning as well as wet
cleaning. This robot operates in an autonomous mode
have some additional features like scheduling for specific
time and dirt container with auto dirt mechanism. This
robot is more versatile and cost efficient than the existing
systems. As it has scheduling feature which is being
operated by an android app makes this system more user
friendly. This robot is designed for the handicapped
people having mobility issues for cleaning purpose
without any external help. It can be used in industries and
for other commercial purposes to save the time and also to
enhance the lifestyle.
IEEE Transactions on Robotics and Automation, vol. 17,
pp. 908–914, 2001.
[10] S. Thrun, D. Fox, W. Burgard, and F. Dellaert,
“Robust monte carlo localization for mobile robots,”
Artificial Intelligence, vol. 128, pp. 99 – 141, 2001.
REFRENCES
[1] Pinheiro, E. Cardozo, J. Wainer, and E. Rohmer,
“Arrangement map for task planning and localization for
an autonomous robot in a large-scale environment,” in
Proc. IEEE International Conference on Control Science
and Systems Engineering (CCSSE 2014), published in
2014.
[2] Manreet Kaur and Preeti Abrol “Design and
development of floor cleaner robot (Automatic and
manual)”, International Journal of Computer Application,
published in July 2014.
[4] Jens Steffen Gutmann, Kristen Culp, Mario E. Munich
and Paolo Pirjanian “Social impact of a systematic floor
cleaner” IEEE International Workshop on Advanced
Robotics and Its Social Impact, published in May 2012.
[5] Liu, Kuotsan, Wang, Chulun, “A Technical Analysis
of Autonomous Floor Cleaning Robots Based on US
Granted Patents”, National Taiwan University of Science
and Technology, Wood & Wu Patent and Trademark
Office, Taiwan.
[6] Mun-Cheon Kang, Kwang-Shik Kim, Dong-Ki Noh,
Jong-Woo Han, and Sung-JeaKo, “A Robust Obstacle
Detection Method for Robotic Vacuum Cleaners”, 2014
IEEE.
[7]J.Y. Sung, R. E. Grinter and H. I. Christensen in
“Housewives domestic robot technology international
journal of social robotics” IEEE International Conference
on Human Robot Interaction, July 2012.
[8] Yuan-Lin Chen, Shun-Chung Wang, Yi-HuaLuo and
Li-Tung Lu, “Dynamic Coordinate Method for Home
Return of Cleaner Robot”, MingChi University of
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© 2017, IERJ All Rights Reserved
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