BE Sem.

VII: Project Presentation

ENVIRONMENTAL
CLEANING ROBOT
Presented by
• Ankit Nayak - 41
• Hemang Shukla – 64
• Jenil Sejpal - 57

Under the guidance

of
Ms.Jovita Serrao
Department of Electronics and Telecommunication Engineering
St. Francis Institute of Technology, Mumbai
 Contents
• Introduction
• Motivation
• Problem Statement with objectives
• Literature Review (Preferably recent research papers)
• Proposed work /Design (if any)
• Software/Hardware Requirements
• Simulation Results & Discussions (We may keep only
results and discussions)
• Applications
• Conclusion
• References
 Introduction
 This project presents an low cost radio frequency based
environmental cleaning robot.
 This project consist of different components which are low in cost
and easy to acquire in market.

 There are humans facing problem in everyday life to clean industrial

waste, power-plant etc.

 This model runs on a camera, a normal brush and a servo motor.

 The camera will transmit live data feed and helps to monitor cleaning
process and monitor the surroundings simultaneously.
 Motivation

 The main idea of this project is to construct a simple robot that assists
humans in purpose of cleaning in places where it is unsafe for the humans
to work with.
 The rise in labor costs and increasing safety concerns have further boosted
the market growth. The various applications of cleaning robots range from
floor cleaning, window cleaning, pool cleaning, etc. The use of cleaning
robots minimizes human efforts and saves time, costs, and electricity.
 The costs involved in deploying the cleaning robots are a major factor
restraining the market growth for the majority of the population. Cleaning
robots are expected to replace the traditional vacuum cleaner as it replaces
human efforts with automation and also saves electricity.
 Problem Statement

 A Low-cost radio frequency controlled robot for cleaning purpose

with surveillance features that is able to improve productivity and
work conditions for the cleaning and security workers.

 The challenge is for the industry to come up with a solution that can
perform both cleaning and security surveillance functions
concurrently, so that the premises owner can channel existing
manpower resources to other higher value-added work.

 It should automatically move to the designated area for cleaning and

surveillance from the charging point.
 Literature Survey

Paper 1 :- Tarun Verma , Abhishek Mishra, Development of robot model for

cleaning open space,Department of Mechanical Engineering, National Institute of
Technology Delhi, Sector A-7, Narela, Delhi – 110040, India.Abhishek Mishra. Tel.: +91-
11-33861212; fax: +91-11-27787503.
E-mail address:abhishekmishra@nitdelhi.ac.in

Brief Introduction :
 Cleaning is one of the necessary routine in open space like
institutes, offices, public places etc. A robotic system that
performs jobs which are dirty, dangerous, repetitive and
provides assistance to human beings is known as a service robot.
 International Organization for Standardization defines a “service
robot” as a robot “that performs useful tasks for humans or
equipment excluding industrial automation applications”.
 Hardware :
 Rasberry pi
 Power Bank
 Scrubber
 Chassis
 Motor Wheel Assembly

SOFTWARE :
 CAD
 Python
 ANSYS
WORKING :
 The following robot’s working was divided into 5 parts, which are as
follows:- Chassis, Scrubber, motor wheel assembly, control
system,programming.
 Chassis was considered to be a main part of demonstration of
cleaning robot. material for frame was taken as aluminium.
 The scrubber was controlled by using Raspberry Pi. To clean the
open space scrubber was rotated which pick the trash during its
rotation.
 The complete demonstration model of robot for cleaning was
consists of four wheels. Two wheels were independently connected
to two different 12V DC motors and other two wheels were free balls.
 The function of Raspberry Pi was to give command to motors
according to the input of Infrared sensors.
 Controlling of demonstration model of robot for cleaning was done
by Raspberry Pi and in demonstration model of robot for cleaning the
programming was done in Python language.
Results :
 Chassis of demonstration model of robot for cleaning :

 Assembly of motor wheel :

 Arrangement of sensors on frame :
 Flow chart for demonstration of programming done in he model :
Paper 2 :- Low Cost Radio frequency Controlled Robot for
Environmental Cleaning. M.Muthiah & K.Nirmal -Electrical and
Electronic Engineering, Sri Venkateswara College of Engineering, Chennai,Tamil
Nadu,India. msmuthiah@gmail.com , nirmalcool55955@gmail.com

Brief Introduction :
 The term “CLEANING” sounds simple yet we humans face a lot of
problems with the disease-ridden workplace.
 Every person involved in the simple work of “CLEANING”.
 A robot can perform cleaning activities in hazardous environments
without the risk of human life
 Hardware & Software :
 Induino R3
 Ultrasonic sensors
 Arduino UNO bootloader
 PYROELECTRIC SENSORS
 Nokia portable charger
 Lithium polymer battery
 Servo motor
 Surveillance camera
Working :
 This robot uses L293D chip for its movement.
 Initially when switch 1 is pressed in the rf transmitter board, the high
signal is received by the controller from the receiver board and the
controller makes the digital pins 7 and 8 HIGH which is connected to
the pin 2 and 7 in L293D chip that makes the robot to move forward.
 Similarly all the other movements of the robot are controlled in the
similar fashion.
Design :
 Paper 3 :M. Vega-Heredia, R. Elara Mohan, Tan Yeh Wen, J. Siti
'Aisyah, A. Vengadesh, S. Ghanta, S. Vinu Engineering Product
Development Pillar, Singapore University of Technology and Design,
Somapha Road 8, Singapore 487372, Singapore.

Brief Introduction :
 The term “CLEANING” sounds simple yet we humans face a lot of
problems with the disease-ridden workplace.
 .The main objective of this work is to provide a substantial solution
to assists humans in the purpose of cleaning in places where it is
unsafe for the humans to work with while keeping it low costs.
 Cleaning environment is the basic for humans to stay in healthy and
fresh.
 . Some products are based on simple obstacle avoidance using
infrared sensors while some utilize laser mapping technique.
Hardware :
 Stepper Motor

 Shafts
 Micro LIDAR Distance Sensor
 Limit Switches
 Roller Bearing

Software :
 Python
 ANSYS
 Working :
 From the above, we can say is used Mantis' design showing the
locomotive mechanism on the sides, the suction system and the
elevation structure in the center of the pad.
 Roller bearings base for the slip ring of the pad, working like a
passive rotational system.
 Two Limit switches on the upper and lower base to stop the linear
actuator of the lifting mechanism.
 Micro LIDAR distance sensor, used to estimate the elevation
distance.
 Demonstration model of robot for cleaning can be done by using the
Python language.
Results :
 Proposed Work / Design

 Constructed a flow chart based on the project.

 Software/Hardware Requirements

 HARDWARE :
1. IR SENSOR
2. HC1-12 Wireless Module
3. PIC Microcontroller
4. Buzzer & LED
5. Robot Control Motor
6. Cleaning Control Motor & Pump
7. Power Supply
8. LCD Display
9. HC-12 Wireless Module
10. RF remote
 SOFTWARE :
1. Micro c for pic programming.
2. Proteus for circuit & pcb design
Simulation Result
 Applications

 It can be used in the nuclear power plant to clean the D2O (heavy
water) on the surface of nuclear power plant, which act as a
moderator to slow down the neutrons from which nuclear
radiations can occur.
 It can also be used in various radiation labs, bio-hazard chambers.
 In labs where carcinogenic radiations occur which cause cancer.
 It can also be used in thermal power plant where the ash obtained
after burning coal is cleaned before mixing with the sea water and
can be used in cement factories.
 Conclusion

 This project efficient floor cleaning with sweeping and

mopping operations.

 The cleaning robot is controlled by RF controller which ranges about

50 meters of wireless communication.
 User can also operate this robot manually with the help of remote. It
reduces the labor cost and saves time also and provides efficient
cleaning.
 The operations such as sweeping, mopping and changing the path in
case of hurdle are performed automatically.
 References

 Tarun Verma , Abhishek Mishra, Development of robot model for cleaning open
space,Department of Mechanical Engineering, National Institute of Technology
Delhi, Sector A-7, Narela, Delhi – 110040, India.Abhishek Mishra. Tel.: +91-11-33861212;
fax: +91-11-27787503.
E-mail address:abhishekmishra@nitdelhi.ac.in

 Low Cost Radio frequency Controlled Robot for Environmental

Cleaning. M.Muthiah & K.Nirmal -Electrical and Electronic Engineering, Sri
Venkateswara College of Engineering, Chennai,Tamil Nadu,India.

 M. Vega-Heredia, R. Elara Mohan, Tan Yeh Wen, J. Siti 'Aisyah, A.

Vengadesh, S. Ghanta, S. Vinu Engineering Product Development Pillar,
Singapore University of Technology and Design, Somapha Road 8,
Singapore 487372, Singapore.
Thank you