MOBILE AIDED AUTOMATIC ARDUINO BASED FLOOR CLEANING ROBOT USING ULTRASONIC SENSOR

DECLARATION
We are honestly declared that, this is our own work and no copy or plagiarism of others
work and that all sources of materials used on this thesis have been strongly acknowledged
and given citation. This is to certify that the above declaration made by our effort is correct
to the best of our knowledge.

In doing so, we assure that we agree with all written above with our signature as follows.
Name ID Number Signature
1. Tokuma Gizaw……………………………..………2662/14…………….._______________
2. Mesafint Tirit……………………………………....2416/14…………….________________
3. Yichalew Sitotaw……………………………..……2728/14…………….________________
4. Alazar Berihun ……………………………………1873/14…………….________________

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ACKNOWLEDGEMENT
First and for most, we want to deserve all the glory and honor to the living God, Christ of
Jesus. Next, we would express our deepest gratitude for Faculty of Electrical and Computer
Engineering for providing us all good things. And we give our thanks for our Head of
Department of Electrical and Computer Engineering Mr. Ararso, and Advisor’s of
industrial control stream Mr. Bekana.Ch for his enough awareness about the project.
Finally, we give a thanks from our heart for those of you (our teachers) and our friends who
will helps us through our project working.

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ABSTRACT
Technology is never-ending process and designing product using the current technology
that will be beneficial to the lives of others is a massive contribution to the community.
This project deal with design and implementation of floor cleaning robot using Arduino
mega2560. The aim of this project is to develop and modernize the system for cleaning
robot which is portable and less cost. The system consist of Arduino mega2560 which is the
back bone of the system to function as required, the brush that clean solid particles before
washing, L293D motor driver, Ultrasonic sensor to calculate the distance between the sonar
sensor and the object, wheels for movement in required direction, Dc motor (for pumping
water, for moving purpose, for mopping purpose),Transistor for switching function,
servomotor1 to move brush up or down, servomotor2 to move mopper up or down and
Bluetooth module. Based on the command given by user from developed android
application to the system, Arduino direct servo motor to make the brush up or down,
pumper to pour out the water to the floor hear we use water spray motor to spray a water to
the floor, the wheels of the robot to move forward, back ward, left, right, stop and mopper
to do mopping or not. Floor cleaning robot is very useful in cleaning floors in hospitals,
house, auditoriums, shop, computer center etc. It is simple, portable, modern house holding
device everyone can operate it easily with safety. Generally, this floor cleaning robot is
very important one for our health and reduce the man power requirement.

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TABLE OF CONTENTS
Contents
DECLARATION .......................................................................................................................................i
ACKNOWLEDGEMENT .......................................................................................................................... ii
ABSTRACT............................................................................................................................................ iii
LIST OF FIGURES ................................................................................................................................... v
LIST OF TABLES .................................................................................................................................... vi
INTRODUCTION ....................................................................................................................................1
1.1 Background ................................................................................................................................1
1.2 Statement of the Problems ........................................................................................................2
1.3 Objectives of the project............................................................................................................3
1.3.1 General objective ................................................................................................................3
1.3.2 Specific objectives ...............................................................................................................3
1.4 Significance of the project .........................................................................................................3
1.5 Scope of the project ...................................................................................................................3
LITERATURE REVEIW ............................................................................................................................4
2.1 Analysis of The Existing Work ....................................................................................................4
2.2 Bluetooth Technology ................................................................................................................5
METHODOLOGY ...................................................................................................................................6
3.1 Methodology of the Project .......................................................................................................6
3.2 Component used in the Project .................................................................................................6
3.3 System Block Diagram ................................................................................................................6
PERSONEL BUDGET ..............................................................................................................................8
TIME SCHEDULE TABLE ........................................................................................................................9
REFERENCES ...................................................................................................................................... 10

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LIST OF FIGURES
Figure 3. 1 Block diagram of the designed system. .............................................................................7

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LIST OF TABLES

Table 3. 1 Component Cost Analysis of the system ............................................................................8

Table 1:1 Time schedule table for project……………………………………………………………9

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INTRODUCTION
1.1 Background
Wireless technologies are becoming more prevalent around the world and the people or
users appreciate this wireless technology which gives them knowledge about different tasks
which can be performed through wireless, reduce human power and time consume and it’s
secured one. Technology is a never-ending process and to design product using the current
technology that will be beneficial to the lives of others is a massive contribution to the
community. Bluetooth technology is one of the wireless technologies used to transfer
information between different electronic devices and less impediment, power consumption,
accessible at cheaper rates etc.
In this work, “Mobile aided Arduinomega2560 based floor cleaning robot using ultrasonic
sensor “is designed for floor buildings. Here floor cleaning robot is proposed that is
controlled through android application and ultrasonic sensor for floor cleaning purpose.
Floor cleaning robot is designed to make housework process become easier for human task
and reduce dirty.
The mopper makes floor cleaning very easy and fast processing using rotating dc motor.
The user may sit at a place, start a robot and clean wherever needed. The system consists of
a transmitter and receiver components. The transmitter part from android mobile
application is used by the user to transmit command based on the desired operation. Based
on these commands the transmitter sends the anticipated commands to Arduino. Then
Arduino direct the components to function based on the incoming signal from the android.
The robot consists of cleaning mop with a water sprayer for efficient cleaning. The robot
has one motorized rotating cleaning brushes for the cleaning part. It is receiving the
movement commands from the android device through Bluetooth module receiver. The
Arduino on receiving the commands decodes them and thus the motors operates in order to
achieve the desired motion. The android app user can control even the sprayer and cleaner
mechanism. This makes floor cleaning a very easy, fast and an effortless process. This
thesis is a combination between software and hardware. The hardware of this robot consists
of the Arduinomega2560, DC motor, servo motor, motor driver, Bluetooth serial

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communication, the power supply and the chassis for the robot. The software used in this
project are Arduino IDE and Proteus to write the programming and simulate the circuit
design respectively.
Robotic cleaners have taken major attention in robotics research due to their effectiveness
in assisting humans in floor cleaning applications at homes, hotels, restaurants, offices,
hospitals, workshops, storerooms and university. Robotic cleaners are distinguished on
their cleaning expertise like floor mopping, dry vacuum cleaning etc. Some products based
on simple obstacle avoidance using infrared sensors while some utilize laser-mapping
technique. Each cleaning and operating mechanism of robotic floor cleaners has its own
advantages and disadvantages. For example, robots utilizing laser mapping are relatively
faster, less time consuming and energy efficient, while obstacle avoidance-based robots are
relatively time consuming and less energy efficient due to random cleaning but less costly.
Importing them from abroad increases their costs. Several types of android robots with
different dimensions are designed for various robotic applications. Labor force is used for
purpose of cleaning floor. But this is tedious and laborious. For this reason, mobile aided
Arduinomega2560 based floor cleaning robot using ultrasonic sensor designed for cleaning
purpose in building including industry, office, floor, cafeteria and other buildings floor.

1.2 Statement of the Problems

In fact, all peoples are using sweep for cleaning purpose. From time to time technology
come up and need to upgrade for easier human task. Furthermore, in buildings as well us in
living home, industry, cafeterias and other building floors cleaning process is done by
human beings. This is tedious, takes large time and laborious, difficulties for human being
to clean at a time. Due to this reason, mobile aided Arduinomega2560 based floor cleaning
robot using ultrasonic sensor is proposed to solve this problem. Therefore, this project is
built to be one of the advantages for human to clean the floor within small period and more
effective. In addition, since it is portable and small user can take it anywhere simply.

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1.3 Objectives of the project

1.3.1 General objective
This project is to design and implement Mobile aided Arduino mega2560 based floor
cleaning robot using ultrasonic sensor for floor buildings by avoiding human power and
wasting of time.

1.3.2 Specific objectives

• To simplify human life
• To avoid time wastage during cleaning.
• To interface MIT app inventor with Bluetooth module.
• To develop an android application that sends a set of instructions from mobile
phone for controlling purpose.
• To interface Bluetooth module with Arduino.
• To identify the specifications of each component used while designing.

1.4 Significance of the project

The proposed system is an embedded system that will clean the floor with less human
intervention. This robot controlled with mobile phone and ultrasonic sensor for any
movement, can spraying water to the ground by itself, dust particle also removed by using
servomotor with roller. Since it is small and movable, user can take it from place to place
when he/she need it for cleaning different floors.

1.5 Scope of the project

Cleaning Robot is developed to make cleaning process easier especially for working
people. This robot is designed for specific area Such as dorm, classroom, office, student
cafeteria, in same case for floor of the building. Used in areas such as:-
cafterias,hospitals,universities,libraries,factories,hotels,industries,supermarkets,...in every
building floors.

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LITERATURE REVEIW
2.1 Analysis of The Existing Work
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. [1]
Another paper which was published 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. [2]
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. [3]

In this paper, an autonomous robot for floor cleaning application is proposed. It can
perform sucking and mopping tasks, obstacle detection, and automatic water spray.
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Moreover, it is also able to work in manual mode. All hardware and software operations are
controlled by Atmega5260 microcontroller. Therefore, the proposed floor cleaning robot is
to overcome the drawbacks of the existing system.[4]

2.2 Bluetooth Technology

Bluetooth technology is one of wireless transference network technology to replace the
cables connecting electronic devices, adapters and exhibits the electronic devices to
communicate wirelessly among each other. Bluetooth RF transceiver operates in the
unlicensed ISM band centered at 2.4 gigahertz and managed using an RF topology.
Bluetooth technology uses the principles of device "inquiry" and "inquiry scan." Scanning
devices listen in on known frequencies for devices that are actively inquiring. When an
inquiry is received, the scanning device sends a response with the information needed for
the inquiring device to determine and display the nature of the device that has recognized
its signal [5].
We have contributed to make our project more interested and better than we saw before. So
our contribution is designing Mobile aided Arduinomega2560 based floor cleaning robot
using ultrasonic sensor, a thing which makes us different from above is we used both
android mobile and ultrasonic sensor at a time.

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METHODOLOGY
3.1 Methodology of the Project
The methodology part is used to define about how the project should be developed and
finalized. Therefore, the steps to conduct the development of this project are divided into
three phases that has shown in the figure given below. In first phase, the project workflow
involve literature review which related in floor cleaning robot system that conducted by
previous researchers and projects. The next phase introduces the propose design that
involve hardware and software implementation in this project. Finally, integrate the system,
testing system and finalize the documentation.

3.2 Component used in the Project

• Processing unit (Arduino Mega2560)
• Actuating units
▪ DC Motor
▪ Water pump
▪ DC Servo motor
• HC-05 Bluetooth module
• L293D Motor Driver
• Wheels
• HCSR04 Ultrasonic Sensor
• 16X2 Liquid crystal display
• Some components like NPN Transistors, Breadboard and Wires (jumpers)

3.3 System Block Diagram

The block diagram shown is gives pictorial representation of proposed floor cleaning robot.
It shows how the components must be connected to fulfil the desired task. It describes the
circuitry and clarifies the idea of the robot chassis. It shows the main structure of cleaning
robot which consists of Arduino Mega2560, power sources, dc motors, Bluetooth module,
Servo motor, Water pump, rotating brushes vacuum cleaner. Power supply is used to
activate the system. After it is given to the system, the command from the user is sent to

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Arduino through Bluetooth module. Based on the given instruction Arduino calls the sent
signals from the programming. Then motor driver controls the movement of wheels
depending on coming instruction, mopper for cleaning, ultrasonic sensor is for detecting
obstacles, water pump for pumping, and servo motor for up-down movement of roller and
mopper.

Figure 3. 1 Block diagram of the designed system.

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PERSONEL BUDGET
Table 3. 1 Component Cost Analysis of the system

№ Name of Component Number of Component Total cost of the

component(birr)

1 Arduino Mega (ATmega2560) 1 800.00

2 DC Motors 2 600.00

3 DC Servo motor 2 336.00

4 LCD Display (16x2) 1 336.00

5 Bluetooth module (HC-05) 1 420.00

6 Ultrasonic sensor (HC-SR04) 1 280.00

7 Motor Driver (L293D) 2 448.00

8 Water pump 1 252.00
9 Wheels 4 336.00
10 Total 4160.00

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TIME SCHEDULE TABLE

Table 1:1 Time schedule table for project

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REFERENCES

[1] Manreet Kaur and Preeti Abrol “Design and development of floor cleaner robot
(Automatic and manual)”, International Journal of Computer Application,
published in July 2014.
[2] 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.
[3] 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.
[4] Ajith Thomas, Rohith M.S, Febin Jolly, Jeeson Cheriyan, Ms.Renu Mary George, “
AnAdvanced Mobile Robot for Floor Cleaning” , International Journal of Advanced
Research in Electrical, Electronics and Instrumentation.

[5] https://en.wikipedia.org/wiki/HC-05 Bluetooth Module Accessed 25 May 2018.

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