Centurion University of Technology and

Management
Parlakhemundi campus

Robotics Automation with ROS C++

CUTM1020
Project Report on –
Floor cleaning robot
B tech in Computer Science & Engineering
Semester-2

Presented by;
M Mamata (210101120079)
K .Sruti Rani ( 210101120080)
Ankita Pradhan (210101120109)
Rasmita Kumari Pradhan
(210101120110)
Y Giri Babu (210101120117)
Guided by-N Jeevaratnam

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 BONAFIDE CERTIFICATE

Certified that this project report FLOOR CLEANING ROBOT by using

Robotics Automation ROS with C++ is the Bonafide work of “GROUP
NAME-
M.MAMTA(79),K.SRUTIRANI(80),ANKITAPRADHAN(109),RASHMITA
KUMARI PRADHAN(110),Y.Giri Babu(210101120117)” who carried out the
project work under my supervision. This is to further certify to the best of
my knowledge, that this project has not been carried out earlier in this
institute and the university.

SIGNATURE

(Signature of Supervisor)

Certified that the above-mentioned project has been duly carried out as per
the norm of the college and statutes of the university

SIGNATURE
N Jeevaratnam

ASSISTANT PROFESSOR

DEPARMENTAL SEAL

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 Acknowledgement

The project couldn't be completed without the efforts and cooperation of all our
group members. This work has been the most exciting part of our learning
experience, which would be an asset for our future career.

We would like to express our sincere gratitude to our mentor N Jeevaratnam

for his guidance and constant support with the valuable suggestions imparted to
us during our work, thereby providing us with all the necessary information for
designing and developing the project. We are also indebted to the
encouragement and exclusive help without which we would have been lacking
for something. Knowledge in itself is a continuous process and getting practical
knowledge is an important aspect in development. We are also greatly thankful
to our friends who have helped us in completion of this project directly or
indirectly by being constant source of support and inspiration.

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 Abstract

The entire floor cleaning robot is divided into several parts, namely consisting of an Ultrasonic

Sensor, Motor Shield L298, Arduino Uno microcontroller, Servo, and Dc Motor. This tool

works when the Arduino Uno microcontroller processes the ultrasonic sensor as a distance

detector and a DC motor as a robot driver, then the DC motor is driven by the Motor Shield

L298. When an ultrasonic sensor detects a barrier in front of it, the robot will automatically

look for a direction that is not a barrier to the floor cleaning robot. The distance value on the

sensor has been determined, that is, when the distance read by the ultrasonic sensor is below

15 cm. The results of testing the value of the ultrasonic sensor distance found different

conditions that occur. In a distance of> 15 cm, the condition of the prototype cleaning robot

for the road floor cleaning is obtained, while the distance <15 cm, the condition for the

prototype of the street floor cleaning robot has stopped.

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 TABLE OF CONTENTS

CHAPTERS PAGE NO.

CHAPTER-1 INTRODUCTION 6-8
1.1 ROBOT
1.2 SENSOR
1.3 HELP TO MANKIND
CHAPTER-2 9-10
2.1 LITERATURE REVIEW
2.2 FLOOR CLENING ROBOT
CHAPTER-3 11-12
3.1 BLOCK DIAGRAM
3.2 CIRCUIT DIAGRAM
3.3 FLOW CHART
CHAPTER-4 13-14
4.1 ARDUINO UNO R3
4.2 ULTRASONIC SENSOR
4.3 MOTOR DRIVER SHIELD
4.4 DRIVER ROBOT CHASSIS
CHAPTER-5 15-16
CODING
CHAPTER-6 17
6.1 CONCLUSION
6.2 FEATURES
6.3 RESULT
CHAPTER-7 18
REFERENCE

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 CHAPTER-1

INRODUCTION

1.1 ROBOT

Robot is an intelligent device having its own brain fed with computer logic so that it can

do the work according to the algorithm designed. Autonomous movement of vehicle is

guided by the logic controller designed. Robots plays an important role in each every field

of life. It is used in industries, in households and in institutes. The robots are just becoming

as intelligent as human now a days. Mostly an average human uses 2-3 robots per day in

his day to day life. Various robotics parts are:-  Pneumatic devices  Actuators 

Sensors  Mechanical control devices like valve  Microcontroller – Controlling unit

Mechanical control devices are used to control the flow or movement of materials or any

other parts present in the device. Actuators are used for controlling a mechanism which

ultimately controls a part of the device. Sensors are the sensing devices which transmit a

signal and receives the signal and accordingly used to accumulate the various environment

information which is ultimately fed to microcontroller for deciding the working of

machines. Microcontroller is the brain of robot where program is written and sensors are

connected as input and actuators as output. The controlling of the robot is governed by

various algorithms like fuzzy controller, machine learning based practices and artificial

neural network based algorithms. Depending upon the environment value received to the

controller it eliminates the error and transits from one state to another. Basically there are

two types of controllers ,one is continuous controller and another is PID based controller

.Continuous controller is more direct and less effective while PID controller is more

advanced and varies according to the current state and gives efficient result.

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1.2 SENSORS

Sensor plays a very important role in every type of robot. Various types of sensors are present.

A sensor is a transducer whose intention is to sense (that is, to distinguish) some normal for its

environs. It identifies occasions or changes in amounts and gives a relating yield, by and large

as an electrical or optical sign; for instance, a thermocouple changes over temperature to a yield

voltage. In any case, a mercury-in-glass thermometer is additionally a sensor; it changes over

the deliberate temperature into development and construction of a fluid which can be perused

on an adjusted glass tube. Sensors are utilized as a part of ordinary questions, for example,

touch-touchy lift catches (material sensor) and lights which diminish or light up by touching

the base, other than endless utilizations of which the vast majority are never mindful. With

advances in micro machinery and simple to-utilize microcontroller stages, the employments of

sensors have extended past the more customary fields of temperature, weight or stream

measurement, for instance into MARG sensors. Besides, simple sensors, for example,

potentiometers and power detecting resistors are still generally utilized. Applications

incorporate assembling and apparatus, planes and aviation, autos, solution and apply

autonomy. A sensor's affectability shows how much the sensor's yield changes when the data

amount being measured changes. Sensor is mainly consists of transducers, operational

amplifiers. Transducer converts any physical signal to electrical signal. Basically the electrical

signal present in very small range. So we have to use amplifiers which provides very high gain

and increases the signal to volt range. Among various types of sensor major sensors are

ultrasonic distance measurement sensor, sound sensor, pressure sensor, touch sensor,

temperature sensor, and field sensor.

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1.3 HELP TO MANKIND

Controlling provides various advantages over human powered work. Following are some of

them:-  It gives accurate results and eliminates possibility of manual error. 4  It is very first

and efficient and the control system used in industries are 100 times efficient than human work.

 In some part of the work areas it lessens the human efforts. Washing machine comes under

this category.  It also plays the great role in bringing entertainment in human life in different

work. Television is the live example of these type of robots.

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 CHAPTER 2

2.1 LITERATURE REVIEW

Traditionally floor is cleaned with the help of dry mop or wet mop using the hand as a

potential tool. They have to scrub hard on the surface. The cleaning includes cleaning of

various surfaces basically cement floors, highly polished wooden or marble floors. Among

these floors the rough surface floor such as cement floor, mostly present in semi urban areas

are covered with so much dust. From early human civilization human is increasingly

dependent on the machines. Human is trying to reduce the workload upon himself. By the

help of machines also we can get huge efficiency because there is no chance of human error

there.

Now -a -days from 30 years intelligence and robotics growing with a vast pace. Every

human is using 2-3 robot at least per day. If we look at past 30 years we will see robotics

from large structure going to small and smaller in Nano range. Very complicated sensors

have been designed to help the robot in various works. Complicated pneumatic and

actuating systems have been designed. One of the best examples is the mobile phone. If

we look at the floor cleaning robot we can see iRobot is dominating the market with its

90 sq. cm robot having indoor navigation as its principal controlling system. Also for

many in-house mobile robots indoor navigation is a big issue. Also currently indoor

GPS is evolving which uses unsupervised learning and determining its path in its first

run. Since now indoor navigation has not been solved completely. Also now-a-days

complicated artificial intelligence algorithms like unsupervised and supervised learning,

Swarm optimization, ANT algorithm, natural heuristic search are playing a major role in

designing control system of the most of the mobile robot.

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 2.2 FLOOR CLEANING ROBOT

Cleanliness is an inseparable part of human life and is an interconnected element in health.

Cleanliness is a prerequisite for the realization of health, a clean environment will provide great

benefits to humans and on the other hand a dirty environment will give people big problems.

Human limitations and lifestyles that do not care about the cleanliness of the surrounding

environment, as well as technological limitations that may be a factor for someone to not pay

attention to the cleanliness of their environment.

Therefore, we are innovating to make simple tools that can help the community or cleaning

workers to clean floors. we want to develop technology while maintaining cleanliness and

keeping abreast of technologies that are currently developing. Therefore, we want to make a

technology design that can clean a room by cleaning the floor automatically. By using a familiar

component, namely the Arduino Uno as the microcontroller, the DC (direct current) motor as

the driving force, this is because the electronically controlled equipment provides more

convenience in its use. Then an automatic floor cleaning robot was designed using an ultrasonic

sensor. This device can be an alternative to helping the public or cleaning workers to clean

floors.

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 CHAPTER 3

3.1 BLOCK DIAGRAM

3.1 Block diagram of floor cleaning

robot
3.2Circuit diagram

3.2 Circuit diagram of floor cleaning robot

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3.3 FLOW CHART

3.3 FLOW CHART OF FLOOR CLEANING

ROBOT

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 CHAPTER 4

4.1 ARDUINO UNO R3

. The Arduino Uno R3 is a microcontroller board based

on a removable, dual-inline-package (DIP) ATmega328

AVR microcontroller. It has 20 digital input/output pins

(of which 6 can be used as PWM outputs and 6 can be used 4.1 ARDUINO UNO

as analog inputs). Programs can be loaded on to it from the easy-to-useR3

Arduino computer

program. The Arduino has an extensive support community, which makesz it a very easy way

to get started working with embedded electronics. The R3 is the third, and latest, revision of

the Arduino Uno

4.2 Ultrasonic Sensor

Ultrasonic sensors are used primarily as proximity sensors. They can be found in automobile

self-parking technology and anti-collision safety systems. Ultrasonic sensors are also used in

robotic obstacle detection systems, as well as manufacturing

technology. In comparison to infrared (IR) sensors in proximity

sensing applications, ultrasonic sensors are not as susceptible to

interference of smoke, gas, and other airborne particles (though the

physical components are still affected by variables such as heat).

4.2 Ultrasonic Sensor

Ultrasonic sensors are also used as level sensors to detect, monitor,

and regulate liquid levels in closed containers (such as vats in chemical factories). Most

notably, ultrasonic technology has enabled the medical industry to produce images of internal

organs, identify tumors, and ensure the health of babies in the womb.

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4.3 Motor Driver Shield

Motor Driver Shield is a board which gives possibility to

control 4 DC motors or 2 step motors (unipolar or bipolar) and

2 servo motors additionally by stacking on Arduino. There are

2 L293D motor driver IC on board which means it can drive

0.6A 4 separate DC motors or 0.6A 2 separate step motors.

4.3 Motor Driver Shield

4.4 Driver Robot Chassis

The auto throttling robot driver for chassis dynamometer consists of a real time controller,

which controls the throttle of a vehicle to maintain the vehicle

speed as per driving cycle. Advantage of the system is to run

repeatable drive cycles on the chassis dynamometer without

human intervention. 4-Wheel Robot Chassis Kit, an easy to

assemble and use robot chassis platform. The Chassis kit provides

you with everything you need to give your robot a fast four wheel

drive platform with plenty of room for expansion to add various

4.4 Driver Robot Chassis
sensors and controllers.

4.5 SERVO MOTOR

A servo motor is a rotary actuator that allows for precise

control of angular position. It consists of a motor coupled to

a sensor for position feedback. It also requires a servo drive

to complete the system. The drive uses the feedback sensor

to precisely control the rotary position of the motor. 4.5 SERVO MOTOR
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 CHAPTER 5

COADING

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16
 CHAPTER 6
6.1 CONCLUSION

Robots are an important in intelligent environments

 Automate devices
 Provide physical service
Based on the findings of the analysis, design, and implementation that has been completed.
As a result, some conclusions can be drawn, such as the fact that the automatic floor cleaning
robot prototype is quite effective in assisting the community or cleaning workers to clean
floors, as studied. Create an automatic floor cleaning robot prototype using the Arduino Uno
Microcontroller as a data processor and an ultrasonic sensor as a distance controller, so that if
someone blocks it, the floor cleaning robot prototype will automatically run in the opposite
direction. The use of ultrasonic sensors in an automatic floor cleaning robot prototype allows
it to detect the distance that is blocking it more effectively.
Hereby come to an end of our project , “FLOOR CLEANING ROBOT” this project can be
used any where either at home or offices. This is also cost efficient.

6.2 FEATURES
 Small size so it will enter a small area.
 Low cost , cost of body , ultrasonic sensor and motor driver.
 A void any obstacle at the center of a given area, which may be discrete and
continuous.

6.3 RESULT
As a result of this floor cleaning robot, the function of each part is working well and the
whole system successfully accomplish. This perform well the working of movement in a
whole room direction and make cleaning of the room. Based on the results of the analysis,
design and implementation that has been done. So, some conclusions can be drawn, namely
the automatic floor cleaning robot prototype is quite effective in helping the community or
cleaning workers to clean floors was build an automatic floor cleaning robot prototype using
the Arduino Uno Microcontroller as a data processor and an ultrasonic sensor as a distance
controller which when someone blocks it, the floor cleaning robot prototype will
automatically run in the direction that no one is blocking it. Automatic floor cleaning robot
prototype using ultrasonic sensors can more effectively detect the distance blocking it.

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 CHAPTER 7

REFERENCE

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