A

Mini Project Report

On

SMART VACUUME CLEANER

Submitted For The Partial Fulfilment Of The Requirement

Of The Award Of Degree Of Master Of Business

Administration

Dr. A.P.J. Abdul Kalam Technical University, Lucknow

2023 – 2025

Submitted to:- Submitted by:-

Dr.Shweta Batra JUNAID AHMAD

(Director) MBA 1st Sem

Roll:-

Fort Institute Of Technology

Mawana Road Meerut

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CERTIFICATE

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 ABSTRACT
Today households devices are becoming smarter and more automated.
Homeautomation delivers convenience and creates more time for people.
Domestic robots are entering homes and people’s daily lives, but it is yet a
relatively new and immature market. However, growth is predicted and
the adoption of domestic robots is evolving. This work can be very useful in
improving life style of mankind.

Our aim is to design the automatic vacuum cleaner that will help to make
household work convenient and much easier. It operates in automatic
mode as well as in manual mode along with additional features like
scheduling for specific time and dirt container with auto- dirt disposal
mechanism. The flexibility, time saving and efficiency make the robot a
good choice for cleaning the floor.

Automatic vacuum cleaners use open cv (Image based processing),

raspberry pi camera, dc motor and control driver and node mcu,
ultrasonic sensor. It also contains mop for wet cleaning, autonomously
vacuuming andwet-mopping a floor in one pass (sweep and mop combo).
By using image processing technique our vacuum cleaner is able to detect
obstacle and ableto find correct path for proper cleaning of floor. Vacuum
cleaner is of truncated shape .It uses image processing which has several
criteria that makes it user-friendly.

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 ACKNOWLEDGEMENT

The satisfaction that accompanies the successful completion of any task

would be incomplete without mentioning the people whose proper
guidance and encouragement has served as a beacon and crowned my
efforts with success. We take an opportunity to thank all the distinguished
personalities for their enormous and precious support and encouragement
throughout theduration of this seminar.

We take this opportunity to express our sincere gratitude and

respect to FORT INSTITUTE OF TECHNOLOGY for providing us an
opportunity to carry out our project work.

With profound sense of gratitude, we acknowledge the guidance and

support extended by Mr. SUNNY GUPTA Asst. Professor, Fort
Institute Of Technologgy, Meerut. Their incessant encouragement and
invaluable technical support have been of immense help in realizing
this project work. Their guidance gave us the environment to
enhance our knowledge, skills and to reach the pinnacle with sheer
determination, dedication and hard work.

We also thank our parents and friends for all their moral support they
have given us during the completion of this work.

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 INDEX

1) Introduction… .................................................. 6-7

2) Literature survey ............................................ 8-14

3) Motivation. .................................................... 15-16

4) Objective ............................................................ 17

5) Methodology .............................................. 18-49

a) Hardware methodology ...................... 21-43

b) Software methodology ....................... 44-49

6) Result ............................................ 50-51

7) Conclusion ........................................................ 52

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CHAPTER - 1

INTRODUCTION

In today life, time management is considered as one of the most importantfactors.

A very notable household chore is floor cleaning which is often considered as
difficult and
boring job. In most cases, cleaners are hired to do the task rather than the
household residents do it. The discomfort posed by this recurrent chore
necessitated development of a vacuum cleaner that could assist human with such
a task. A vacuum cleaner is an electromechanical appliance commonly used for
cleaning floors, furniture, rugs and carpets by suction. An electric motor inside
the appliance turns a fan which creates a partial vacuum and causes outside air
to rush into the evacuated space. This forces any dirt or dust near the nozzle into
a bag inside the machine or attached to the outside.

The demand to reduce manpower level has led to the design and
development of automatic control systems, which enables unattended
operations of the machinery. The current automatic integrated systems
cover all aspects of Automatic vacuum cleaner operations.

Current vacuum cleaners, although efficient, are rather bulky and therefore
require large manpower for proper functioning. The former vacuum cleaners use
to generate suction and gathered dust with a rotating brush, the latter worked
with a belt driven by hand-cranked fan making it awkward to operate. In the late
1990s and early 2000s, more efficient sweepers equipped with limited suction
power were developed. Depending on the design target, robotics vacuum
cleaners are appropriate for offices, hotels, hospitals and homes. However, most
cheap cleaners need a better cleaning pattern algorithm for efficient functioning
while the smart ones are rather costly, and thus beyond the reach of most
homes. These challenges were carefullyconsidered while designing the vacuum
cleaner. The Automatic vacuum .

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 Fig 1 Automatic Vacuum Cleaner Model

The current robot vacuum cleaner was fabricated from computer scraps,
ultrasonic sensor and a NODEMECU 8266 microcontroller making it relatively
cheap. It navigates rooms using a patterned algorithm and its cleaning
mechanism is enhanced by two rotating sweepers placed side by side. Its
truncated shape has been carefully considered in the design of the sweepers
while its effectiveness was evaluated.

The robot is designed keeping in mind following modules of operation:

 cleaning mechanism

 directional control with automatic obstacle avoidance

 less space consuming

 avoid falling from certain height

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CHAPTER-2

LITERATURE SURVEY
We have done comprehensive study of latest technological trends and efficient
systems. We have undertaken extensive literature survey to study automatic
vacuum cleaner parameters, such as sensors, raspberry pi module, raspberry pi
camera and how to connect raspberry pi with NodeMcu. A well- planned
literature survey has ensured availability of information for efficient system
performance, technology usage, specialization and management of available
resources. IOT based systems are also studied for automatic vacuum cleaner
system.

Our study includes the current knowledge, findings, as well as theoretical and
methodological contributions for development of automatic vacuum cleaner
using image processing. It involves concept development, which is a set of
activities carried out in the system engineering to collect parameters of
operational needs and develop suitable system for implementation.

Design of smart vacuum cleaner which are available in the market are using
Arduino Uno, Motor, Ultrasonic Sensor, and IR Sensor in order to achieve the
goal of cleaning process. Vacuum cleaner Robots have several criteria that
are user-friendly.

An autonomous vacuum cleaner robot are able to randomly navigate

through a room or a house with the minimum human assistance, the
following specifications that are found:

 Obstacle avoidance

 Floor avoidance

 Collision Detection

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 Dry cleaning

 Wet cleaning

 Status display

 Automatic system

Four motors are used for the purpose like movement of robot, water pump.
Relays are used to drive the water pump and cleaner motor. LM293D IC are
used to drive wheel motor. All the information are displayed on LCD. These
specifications correspondto some of the expected behaviours that will be
programmed into the robot.

It consists of four dedicated wipers that are attached to the platform. Among
them, one of the wipers is cylindrical and the others are flat in geometry. The flat
wipers are symmetrically placed at the bottom of the Platform arranged in ‘V’
shape so as to ensure efficient cleaning and collection of dust. The roller wipers
are placed at the end of the platform using proper links and a driver motor. The
cleaning is made efficient using wet wiping system. This system employs a small
bottle that carries water in it. This ensures a complete cleaning of the surface.
Only the wipers in the front are made wet. This ensures that the wiper from the
back remove the water from the surface .

Now a days, robot operates in autonomous mode as well as in manual modealong

with additional features like scheduling for specific time and bagless dirt
container with auto-dirt disposal mechanism. This work can be very useful in
improving life style of mankind.

Proposed design is being operated in dual modes. In one of the modes, the robot
is fully autonomous and making decisions on the basis of the outputs ofinfrared
proximity sensors, ultrasonic sensors and tactile sensors after being processed
by Arduino (mega) controller and control the actuators (2 DC encoder motors)
by the H-bridge driving circuitry. In manual mode, the robotcan also be used to
clean a specific area of a room by controlling it manually from laptop with a
Graphical User Interface (GUI) in Visual Studio (C# programming language) via
Bluetooth connectivity.
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The following figure shows the working model of CLEAR:

Fig.2.1 Mechanical Design Of CLEAR

The base of the body comprises of acrylic sheet, two encoder motors along with
Teflon tires having O-rings on them for avoiding friction, two ball casters of
adjustable height having frictionless steel balls, aluminium angularbrackets and
aluminium holders for two lead acid batteries of 12V and 1.2Ah rating. Cleaning
assembly includes a DC geared motor, sprockets for moving chain from geared
motor to rotating brush and two aluminium rods for supporting vacuum cleaner
mechanism and dirt compartment. This DC geared motor has been fitted on one
side of acrylic sheet with aluminium holder and sprockets installed with it which
have been fitted into shaft of motor. All components are installed on lower side
of acrylic sheet so that center of gravity should be lower and robot would be
stable.

In some of the vacuum cleaners, all hardware and software operations are
controlled by AT89S52 micro-controller. RF modules have been used for
wireless communication between remote (manual mode) and robot and having
range 50m. This robot is incorporated with IR sensor for obstacle detection and
automatic water sprayer pump. Four motors are used, two for cleaning, one for
water pump and one for wheels. Dual relay circuit used to drive the motors one
for water pump and another for cleaner. In the automatic mode robot control all

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the operations itself and change the lane incase of hurdle detection and moves
back. In the manual mode, the keypad is used to perform the expected task and
to operate robot. RF module has been used to transmit and receive the
information between remote and robot and display the information related to
the hurdle detection on LCD. The whole circuitry is connected with 12V battery.

Unlike other floor cleaner robots this is not a vacuum cleaner robot; it performs
sweeping and mopping operation. Detachable mop is used for mopping. In the
automatic mode, robot performs all operations itself. Firstly, robot starts, it
moves forward and perform cleaning action. For obstacle detection and to avoid
hurdle IR sensors have been used.

If any hurdle is detected then robot change the lane automatically, doesnot
stop and starts cleaning action. It follows zigzag path.

For user convenience automatic water sprayer is attached which automatically

spray water for mopping, therefore no need to attach wet cloth again and again
for mopping.Four motors have been used to perform respected operations like
to move the robot, for water pump and for cleaner.

Relays are used to drive the water pump and cleaner motor. LM293D ICis
used to drive wheel motor.

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All the information are displayed on LCD. In the manual mode, user itself
operates the robot. RF module have been used to transmit and receive the
signal to operate the robot through remote. In the manual mode, if any hurdle
is detected, then signal of hurdle detection is displayed on the LCD of remote
via RF module.

All the information displayed on LCD. In the manual mode, user itself operatesthe
robot. RF module have been used to transmit and receive the signal to operate
the robot through remote. In the manual mode, if any hurdle detected, then
signal of hurdle detection displayed on the LCD of remote via RF module.

In the following research paper which we have studied for the referenceand
help for our project uses following sensors:

 OBSTACLE SENSORS
 CLIFF SENSORS
 WALL SENSORS
 WHEEL SENSORS

Obstacle sensors: From a robot vacuum’s point of view, our homes are an
obstacle course of chair legs, coffee tables, sofas, and stray toys. Sensors located
on or near the vacuum’s
shock-absorbing bumpers allow it to steer through these obstructions without
getting slowed down. When the bumper impacts an object, the sensor is triggered
and the robot vacuum knows to turn and move away until it findsa clear path.
Which direction it takes is determined by where the bumper makes contact. If a
vacuum hit an object with the left side of its bumper, for example, it will
generally turn right because it has determined the object to be to its left. But
maneuvering around objects can often leave swaths of floor uncleaned. To
minimize this, some manufacturers take—literally—different

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approaches to obstacles. An iRobot Roomba, for example, will slow down as its
approaches an obstacle. “The advantage of Roomba is that we gently touch
objects, because what we find is that you can push through soft objects like
curtains and bed skirts,” said iRobot’s director of product management Ken
Bazydola. “That gives you better coverage.”

Cliff sensors: Stairs are perhaps the biggest peril for robot vacuums; a
tumble could damage the vacuum and anyone in its path. Because of this, cliff
sensors are a safety requirement on all robot vacuums. They measurethe
distance to the floor by constantly sending infrared signals to its surface. If
the signals don’t immediately bounce back, the robotsurmises it has reached
a stair or some other “cliff” and will change direction.
Wall sensors: This sensor help in detecting walls, again using infrared light,so
they can follow along them. This allows them to clean along the edges where the
wall meets the floor. Best of all, it allows them to do it without bumping and
scuffing the wall as we often do with stand up vacuums. In models with mapping
capabilities, wall sensors can also help the vacuum to follow around open
doorways and discover new areas to clean.

Wheel sensors: A robot vacuum uses light sensors to measure wheel rotation.
With this number and the wheel circumference, it can calculate how far it has
traveled. At one time, sensor navigation was the way all robot vacuums worked.
Today it’s mostly limited to manufacturer’s lower-end models, because though
it’s effective, it’s not particularly efficient. Because these robot vacuums react to
sensory input, they tend to grope their way through a room, vacuuming in
haphazard paths. In order to get complete coverage and clean every area at least
once they’ll take multiple passes over a room in whatever time their battery life
allows. In our tests, this usually meant longer vacuuming times and, in the case
of larger rooms, uneven cleaning as some areas got more attention than others.

“Since all the previous projects mentioned above follow zig-zag path
where we cannot predict whether our vacuum cleaner has cleaned our
room completely or not”.

Whereas in our proposed work we can conform ourselves that our floor hasbeen

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cleaned by vacuum cleaner completely because in our project we will be

using range of interest which will help our vacuum cleaner in determining the
obstacles and selecting proper path to move.

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CHAPTER - 3

MOTIVATION
The motivation to undertake this project is to hone professional skills in
software development and integration with hardware. The work has been
undertaken with the usage of state of the art technology to meet the project
objectives.

The IOT based project entitled “SMART VACUUM CLEANER” is selected

because, this is a specialized field and we can explore individual research
attitude, analytical, numerical and experimental skills. During the project work,
we could explore individual technical skills, knowledge, creativity and practical
application of theoretical studies. It gave opportunity to learn from the best
engineers, in encouraging working environment. The successful design and
development of the project has fulfilled desired motivational objective for the
team members.

As a learning value, at the workplace, over view of component and systems

functioning and its design process was provided including physical
demonstration of each sub part. It was allowed to interact with engineers
working on these systems and components, and see various facilities, used for
design, development, integration and testing purpose. It has assisted individual in
gaining valuable real work experience. It was possible to get insight into the way
technical business activities take place and challenges faced on daily basis. It has
provided opportunities to explore technical interest and develop professional
skills and competencies for the individual. It has provided opportunity to learn
balance between office work, college study and social life, thus capability to
handle more responsibilities.

During the project work, we could apply academic knowledge and

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concepts in to real life professional environment. Overall, this project work,
provided necessary technical skills and professional experience, which is
essential for a successful engineer and career development. The project has
helped, learn resolving practical problems encountered during applicability of
academic knowledge in real technical world to design, develop, integrate,
fabricate and assess its functionality.

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CHAPTER -4

OBJECTIVE
Objective of this project is to design and develop IOT based smart vacuum
cleaner, that will help to make household work convenient and much easier. In
this project new type of home intelligent cleaner adopted the ultrasonic sensor
, which has the function of the real-time environment perception, is introduced,
and this cleaner driven by dc motor has the ability of autonomous working by
itself and the functions of the automatic detection and obstacle avoidance. This
project adopts open CV technique for floor coverage task, and designs synthesis
detection system based on sensor arrays finding method technology according
to algorithm characteristics, experimental results for obstacle detection by
static finding indicates that the design detection systems improves cleaning
robot’s environment perception and path search ability greatly.
In recent years, 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, warehouses and
universities etc. asically, robotic cleaners are distinguished on their cleaning
expertise like floor mopping, dry vacuum cleaning etc. Someproducts are based
on simple obstacle avoidance using infrared sensors whilesome 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 but
costly, while obstacle avoidance based robots are relatively time consuming and
less energy efficient due to random cleaning but less costly.

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CHAPTER – 5
METHODOLOGY
The project technology and components were elaborately discussed and
plan made for implementation. Detailed study of requirements and functioning
of various existing systems,
components and its sub parts was undertaken for defining project
methodology. Available technical literature and interaction with engineers
working on these systems and components were carried out for finalization of
efficient design at minimum cost and least time frame.

5.1 PROBLEM DEFINITION

Households of today are becoming smarter and more automated. Home
automation delivers convenience and creates more time for people.
Domestic robots are entering homes and people’s daily lives, but it is yet a
relatively new and immature market. However, growth is predicted and the
adoption of domestic robots is evolving. This work can be very useful in
improving life style of mankind.
Our aim is to design the Automatic vacuum cleaner that will help to make
household work convenient and much easier. It operates in autonomous mode as
well as in manual mode along with additional features like scheduling for specific
time and dirt container with auto- dirt disposal mechanism. The flexibility, time
saving and efficiency make the robot a clean choice for cleaning the floor

5.2 PROJECT METHODOLOGY

The methodology of the project implementation is to design and develop the

smart vacuum cleaner, based on node mcu and machine learning using open cv
technique to assess its functional efficency. The validity of project concept is
required to be demonstrated by using hardware components, required software
and integrating it all to fabricate a functioning model.

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 Fig 5.2.1. Working Of Automatic Vacuum Cleaner

The edge of the floor is sensed as input by Raspberry Pi camera which later on
undergo processing in Raspberry Pi Module, in which the edge of the floor is
detected and this is done with the help of Open Source Software, and it also help
in the proper movement of the vacuum cleaner.
The wheels and wipers are the output of the real time system proposed above.
The Wheel is connected to DC geared motor which is driven by DC Motor Driver.
The DC Motor is being rotated as per the code fed in NODEMCU 8266 and a result
of which the wheels are moving in the sensed direction.
The sprinklers and wipers are also attached to the proposed model in which
when the wheels are moving in any particular direction of the floor, the floor
under the vacuum cleaner model also gets cleaned up with the help of wipers
and sprinklers are used to pour water at the time of cleaning the floor bywipers.

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 5.3 PROJECT TECHNOLOGY
Apart from basic engineering knowledge , certain technologies cover
Arduino, NODEMCU, IOT, artifical intelligence, control system, sensors ,
machine learning, raspberry pi module, which is used for the project
implementation .

5.3.1 SENSORS

Sensor is a device, which detects or measures a physical property and

records, indicates, or otherwise responds to it. It is used to detect and respond
to electrical or optical signals. It converts the physical parameter like
temperature, pressure, humidity, speed etc, into a signal which can be measured
electrically.

sensors which we used in this project is:

 UltraSonic Sensor

5.3.2 IOT

An IOT system consists of sensors/devices which “talk” to the cloud

through some kind of connectivity. Once the data gets to the cloud, software
processes it and then might decide to perform an action, such as sending an alert
or automatically adjusting the sensors/devices without the need for the user.

5.4 PROJECT IMPLEMENTATION

The project has combination of software and hardware components. The

hardware used is Raspberry pi module and NODEMCU board which interfaced
with sensors like Ultrasonic sensor, Raspberry Pi camera module , Dc Motor and
LCD wheel. Arduino program for hardware integration is developed to process
and transmit sensor signals for the display. The communication device used is
a NODEMCU which has in-built wifi module init.

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5.5. PROJECT HARDWARE

Various components used and working principles of the projecthardware

are described in succeeding paragraphs.

5.5.1 DC MOTOR
A DC motor is any of a class of rotary electrical machines that converts direct
current electrical energy into mechanical energy. The most common types rely
on the forces produced by magnetic fields. Nearly all types of DC motors have
some internal mechanism, either electromechanical or electronic, to
periodically change the direction of current flow in part of themotor.

DC motors were the first form of motor widely used, as they could be powered
from existing direct-current lighting power distribution systems. A DC motor's
speed can be controlled over a wide range, using either a variable supply voltage
or by changing the strength of current in its field windings.
Small DC motors are used in tools, toys, and appliances. The universal motor can
operate on direct current but is a lightweight brushed motor used for portable
power tools and appliances. Larger DC motors are currently used inpropulsion of
electric vehicles, elevator and hoists, and in drives for steel rolling mills. The
advent of power electronics has made replacement of DC motors with ac motor
possible in many applications.

Dc Gear Motor

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Dc motor is used in this project for the movement of wheel. High torque dc
motor is used for the convenient movement of the wheel. As the weight of
theautomatic vacuum cleaner is approx 5-6 kg we need a series dc motor
whichgenerate high torque. Dc motor is also used for controlling the speed
of wheel of automatic vacuum cleaner.

Dc motor is used to convert direct electrical energy into mechanical

energy.DC motor work on the principal that "whenever a current
carrying conductor is placed in a magnetic field, it experiences a
mechanical force”. The direction of the mechanical force induced in a dc motor
is given by Fleming’s Left-hand Rule and its magnitudeis given by F=BIL
Newton.

Dc motor is connected with NodeMcu Esp8266 with the help of dc motor

driver, which is further connected to the battery. Dc motor can rotate in both
clockwise and anticlockwise movement of the wheel.as the load driven by Dc
motor is more so armature current needed by it will also be more as a result
high torque dc motor is required so that it can bear a heavy load.

5.5.2 DC MOTOR DRIVER

A dc motor driver is a device that serves to conduct in some predetermined
manner the performance of a dc motor. A dc motor driver can be use to control
the starting and stopping or in forward or reverse rotation of a wheel,
regulating the speed of the wheel, limiting the torque and protectingagainst
overloads and faults either a manual or automatic.

Common features of dc motor driver are:

 precise closed loop position control

 fast acceleration rates
 precise speed control dc motors may be made from several motor
types, the most common being:
o brushed DC motor

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o brushless DC motors

Fig.5.5.2 L298n Motor Driver Module

The L298N is an integrated monolithic circuit in a 15- lead Multi-watt

and PowerSO20 packages. It is a high voltage, high current dual full-
bridge driver de-signed to accept standard TTL logic level sand drive
inductive loads such as relays, solenoids, DC and stepping motors.
Two enable inputs are provided to enable or disablethe device
independently of the in-put signals. The emitter of the lower
transistors of each bridge are connected together rand the
corresponding external terminal can be used for the connection of an
external sensing resistor. An additional Supply input is provided so
that the logic works at a lower voltage.

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5.5.2.1 Features
1) High operating voltage, which can be up to 40 volts;
2) Large output current, the instantaneous peak current can be up to 3A;
3) With 25W rated power;
4) Two built in H-bridge, high voltage, large current, full bridge driver, whichcan
be used to drive DC motors, stepper motors, relay coils and other inductive
loads.
5) Using standard logic level signal to control.
6) Able to drive a two-phase stepper motor or four-phase stepper motor,
and two-phase DC motors.
7) Adopt a high-capacity filter capacitor and a freewheeling diode that protects
devices in the circuit from being damaged by the reverse current ofan
inductive load, enhancing reliability
8) The module can utilize the built-in stabili volt tube 78M05 to obtain 5v
from the power supply. But to protect the chip of the 78M05 from damage,
when the drive voltage is greater than 12v, an external 5v logic supply should
be used.
9) Drive voltage: 5-35V; logic voltage: 5V

5.5.3 NODE MCU ESP8266

Node MCU is an open source IOT platform. It includes firmware which runs on the
ESP8266 Wi-Fi from Espressif Systems, and hardware which is based on the ESP-12
module. The term "Node MCU" by default refers to the firmware rather than the
development kits. The firmware uses the Lua scripting language. It is based on the
eLua project, and built on the Espressif Non-OSSDK for ESP8266.

It uses many open source projects, such as lua- cjson andspiffs. The module is
mainly based on ESP8266 that is a low-cost Wi-Fi microchipincorporating
both a full TCP/IP stack and microcontroller capability. It is introduced by
manufacturer Espressif Systems – A manufacturer based in Shanghai, China
Arduino Modules and Microcontrollers have always been a great choice
toincorporate automation into the relevant project. But these modules
comewith a little drawback as they don’t feature a built-in WiFi
capability, subsequently, we need to add external WiFi protocol into
these devices to make them compatible with the internet channel.

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This is where NodeMCU comes handy that incorporates a built-in

WiFi support, giving an easy pathway to design IoT applications as
per yourtechnical requirements.
.

Fig.5.5.3 Node Mcu

.And open source firmware gives you the flexibility to edit, modify and
rebuilt the existing module and keep changing the entire interface until
you succeedin optimizing the module as per your requirements.

 USB to UART converter is added on the module that helps in

converting USB data to UART data which mainly understands the
language of serial communication.

Instead of the regular USB port, Micro USB port is included in the modulethat
connects it with the computer for dual purposes: programming and powering
up the board.
The board incorporates status LED that blinks and turns off immediately,giving you
the current status of the module if it is running properly when connected with the
computer.

The ability of module to establish a flawless Wi-Fi connection between two

channels makes it an ideal choice for incorporating it with other embedded
devices like Raspberry PiN.

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5.5.3.1 NODEMCU PIN:

NodeMCU V3 comes with a number of GPIO Pins. Following figure shows the
Pinout of the board.

Fig.5.5.3.1 Node MCU Pin Configuration

There is a candid difference between Vin and VU where former is the regulated
voltage that may stand somewhere between 7 to 12 V while later is the power
voltage for USB that must be kept around 5 V.

5.5.3.2 HOW TO POWER NODEMCU:

You can see from the pinout image above, there are five ground pins andthree
3V3 pins on the board. The board can be powered up using the following three
ways.

USB Power. It proves to an ideal choice for loading programs unless the
project you aim to design requires separate interface i.e. disconnected from
the computer

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Provide 3.3V. This is another great option to power up the module. If youhave
your own off-board regulator, you can generate an instant power source for
your development kit.
Power Vin. This is a voltage regulator that comes with the ability to support up to
800 mA. It can unable to generate as low as 3.3V.

5.5.3.3 FEATURES OF NODEMCU ESP8266

• Open-source
• Arduino-like hardware
• Status LED
• MicroUSB port
• Reset/Flash buttons
• Interactive and Programmable
• Low cost
• ESP8266 with inbuilt wifi
• USB to UART converter
• GPIO pins

5.5.4 RASPBERRY PI 3B
The Raspberry Pi is a series of small single-board computers developed in the
United Kingdom by the Raspberry Pi Foundation to promote teaching ofbasic
computer science in schools and in developing countries. The original model
became far more popular than anticipated, selling outside its target market for
uses such as robotics. It does not include peripherals (such as keyboards and
mice) or cases. However, some accessories have been included in several
official and unofficial bundles.

The organisation behind the Raspberry Pi consists of two arms. The first two
models were developed by the Raspberry Pi Foundation. After the Pi Model B
was released, the Foundation set up Raspberry Pi Trading, with Eben

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Upton as CEO, to develop the third model, the B+. Raspberry Pi Trading is
responsible for developing the technology while the Foundation is an
educational charity to promote the teaching of basic computer science in
schools and in developing countries.

According to the Raspberry Pi Foundation, more than 5 million Raspberry Pis

were sold by February 2015, making it the best-selling British computer. By
November 2016 they had sold 11 million units, and 12.5m by March 2017,
making it the third best-selling "general purpose computer". In July 2017, sales
reached nearly 15 million. InMarch 2018, sales reached 19 million.

The Raspberry Pi 3 Model B is the third generation Raspberry Pi. This powerful
credit-card sized single board computer can be used for manyapplications and
supersedes the original Raspberry Pi Model B+ and Raspberry Pi 2 Model B.

Whilst maintaining the popular board format the Raspberry Pi 3 Model B

brings you a more powerful processor, 10x faster than the first generation
Raspberry Pi.

Additionally it adds wireless LAN & Bluetooth connectivity making it theideal

solution for powerful connected designs.

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5.5.4.1 Raspberry Pi 3 - Model B Technical Specification

 Broadcom BCM2387 chipset

 1.2GHz Quad-Core ARM Cortex-A53

 802.11 bgn Wireless LAN and Bluetooth 4.1 (Bluetooth Classic and LE)

 1GB RAM
 64 Bit CPU

 4 x USB ports
 4 pole Stereo output and Composite video port

 Full size HDMI

 10/100 BaseT Ethernet socketbr

 CSI camera port for connecting the Raspberry Pi camera

 DSI display port for connecting the Raspberry Pi touch screen display

 Micro SD port for loading your operating system and storing data

 Micro USB power source

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5.5.4.2 Raspberry Pi 3 - Model B Features

o Now 10x Faster - Broadcom BCM2387 ARM Cortex-A53 Quad Core

Processor powered Single Board Computer running at 1.2GHz!

o 1GB RAM so you can now run bigger and more powerful applications

o Fully HAT compatible

o 40pin extended GPIO to enhance your “real world” projects.

o Connect a Raspberry Pi camera and touch screen display (each sold

separately)

o Stream and watch Hi-definition video output at 1080

o Micro SD slot for storing information and loading your operating

systems.

o 10/100 BaseT Ethernet socket to quickly connect the Raspberry Pi to

the Internet

Fig. 5.5.4 Raspberry Pi 3b

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5.5.5 RASPBERRY PI CAMERA V2

The Raspberry Pi Camera v2 is the new official camera board released
bythe Raspberry Pi Foundation.

This 8mp camera module is capable of 1080p video and still images that
connect directly to your Raspberry Pi. This is the plug-and-play-compatible
latest version of the Raspbian operating system, making it perfect for time-
lapse photography, recording video, motion detection and security
applications. Connect the included ribbon cable to the CSI (Camera
SerialInterface) port on your Raspberry Pi, and you are good to go!

The board itself is tiny, at around 25mm x 23mm x 9mm and weighing in at
just over 3g, making it perfect for mobile or other applications where size
andweight are important. The sensor has a native resolution of 8
megapixel, and has a fixed focus lens on board. In terms of

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still images, the camera is capable of 3280 x 2464pixel static images,

and also supports 1080p30, 720p60 and 640x480p90 video.

Fig. 5.5.5 Raspberry Pi Camera V2

5.5.6 BATTERY

The Skycell Premium LiFePO4 Rechargeable Battery Pack is a 12s 5p

battery pack with a nominal voltage of 36V and can be fully charged upto
43.8V. This battery pack has 60 cells which gives it a capacity for 1C (30A)
continuous discharge and 3C (90A) discharge for a few seconds. The
nominal capacity of the battery pack is 30000mah. The battery pack has an
in-built BMS which prevents the battery from over charging above 43.8V
and also prevents it from over discharging below 33.5 volts.

The Skycell Premium LiFePO4 Rechargeable Battery Pack is made using

Skycell High Qualtiy Lithium Iron Phosphate (LiFePO4) rechargable cells

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which are one of the most powerful and most stable cells available along
with an amazing life cycle of approximately 3000 cycles. The High Quality
LiFePO4 is a 6000 mah cell with a 1C(6A) continuous discharge and 3c(18A)
peak discharge. These cells can work in high temperature environments which
might not be favourable for the Li-ion or Li-po cells. The cell is availaible in the
32650 / 32700 size which means that the diameter of the cell is 32mm and
height is 70 mm which is quite compact for the power it gives. With a life
cycle of approximately 3000 cycles with good performance, this is a fit and forget
solution for our battery packs.
The benefits of the LiFePO4 cells over Li-ion and Lead acid batterie are:
 LiFePO4 cells are much more stable chemically and non combustible. At
high temperatures or if the battery is mishandled the phosphate based
cathode material will not burn. Hence LiFePO4 are much more safe for E-
Vehicles and mobile robots
 LiFePO4 cells offer much longer lifetime as compared to a Lead Acid or a
Li-ion cell. The LiFeP04 provides approximately 3000 cycles under proper
handling and upto 70% DOD( Depth of Discharge). Also the shelf life of the
cell is much longer with a lower self discharge rate.
 The LiFePO4 cells offer higher performance compared to a normal 1C Li-
ion 18650 cell. The commonly availaible Li-ion cell are rated for 2 A
discharge rate whereas the LiFePO4 1C cell provides a 6A discharge rate.
There is also very little voltage drop during discharge which is much
higher in a lead acid battery.

The LiFePO4 is a nontoxic material, non contaminating material which

contains no rare-earth minerals. This makes it a much more environment
friendly choice compared to the lead acid and Lithium batteries.


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5.5.6.1 Battery Specifications:

 Nominal Voltage of battery : 36V (12s5p)
 Maximum Voltage of battery : 43.8V(at full charge)
 Operating Voltage: 33.5V -43.8V
 Minimum voltage allowed by BMS : 33.5 V ( BMS will cutoff
thesupply once battery pack is discharged up till 33.5 V)
 Continuous Current Capacity : 30 A (1C )
 Peak Current Capacity : 90 A (3 C) only for few seconds)
 Norminal Battery Capacity: 30000mAh
 Max Charging Current(Continuous): 1C (30A)

 Dimension: 330mm*200mm*80mm
 No of charge/discharge cycles : approximately 3000 cycles for 70%
DOD. This means that if the battery pack is used once daily then the
lifeis approx 8 years for same.

Applications of LiFePO4 battery

 Light electric car, e-bike, electric scooter, e-rickshaw,electric golf
cart, forklift, cleanness car, electric wheelchairs.
 E-tools like electric drill, electric saw, lawn mower and so on
 Remote control cars, boat aircraft, toys.
 Solar and wind power generation energy storage devices
 Small medical equipment and portable equipment

Fig.5.5.6 Battery
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5.5.7 WHEEL

Wheel is used for the movement of the body from one place to another with the
help of Dc motor. A wheel is usually of circular shape and hard and made up of
durable material whose center has a circular hole through whichan axle bearing
is placed about which the wheel rotates and when a momentis applied by the
torque to the wheel about the axis, thereby making together and also easy
movement of the automatic vacuum machine. When wheel is placed vertical axis
under a load-bearing platform , the wheel turning on thehorizontal axis makes it
possible to transport heavy loads efficiently, when placed horizontally, the
wheel turning on its vertical axis makes it possible tocontrol the spinning motion
used to shape materials , when mounted on a column connected to a chassis
mounted on other wheels, one can control the direction of a automatic vacuum
cleaner, when connected to a engine, a wheel control, release, or transmit
energy .

Fig.5.5.7 Wheel

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5.5.8 Ultra Sonic Sensor

An ultrasonic sensor is an instrument that measures the distance toan

object using ultrasonic sound waves.

An ultrasonic sensor uses a transducer to send and receive ultrasonic

pulses that relay back information about an object’s proximity.

High-frequency sound waves reflect from boundaries to produce distinct echo

patterns.

Ultrasonic sensors are a reliable, cost-effective solution for distance

sensing, level, and obstacle detection.

5.5.8.1 How Ultrasonic Sensors Work

Ultrasonic sensors work by sending out a sound wave at a frequency above

the range of human hearing. The transducer of the sensor acts as a
microphone to receive and send the ultrasonic sound. Our ultrasonic sensors,
like many others, use a single transducer to send a pulse and to receive the
echo. The sensor determines the distance to a target by measuring time
lapses between the sending and receiving of the ultrasonic pulse.

The working principle of this module is simple. It sends an ultrasonic

pulse out at 40kHz which travels through the air and if there is an
obstacle or object, it will bounce back to the sensor. By calculating
thetravel time and the speed of sound, the distance can be
calculated.

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5.5.8.2 Why use an Ultrasonic Sensor?

Ultrasound is reliable in any lighting environment and can be used inside or

outside. Ultrasonic sensors can handle collision avoidance for a robot, and
being moved often, as long as it isn’t too fast.

Ultrasonic are so widely used, they can be reliably implemented in grain

bin sensing applications, water level sensing, drone applications and
sensing carsat your local drive- thru restaurant or bank.

Ultrasonic rangefinders are commonly used as devices to detect a collision.

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5.5.8.3 Ultrasonic Sensors are best used in the non-contact detection

of:

 Presence
 Level
 Position
 Distance

Non-contact sensors are also referred to as proximity sensors.

5.5.8.4 Ultrasonic are Independent of:

 Light
 Smoke
 Dust
 Color
 Material (except for soft surfaces, i.e. wool, because the surface
absorbs the ultrasonic sound wave and doesn’t reflect sound.)

Long range detection of targets with varied surface properties.

Ultrasonic sensors are superior to infrared sensors because they aren’t affected
by smoke or black materials, however, soft materials which don’treflect the sonar
(ultrasonic) waves very well may cause issues. It’s not a perfect system, but it’s
good and reliable.

5.5.8.5 Applications Involving Ultrasonic Detection:

Ultrasonic Distance Measuring

Distance measurement is based on the measurement of time-of-flight. Thetime

between sending and receiving the reflected sound signal is calculated by the
sensor. Ultrasonic distance sensors, like the MB7360
HRXL-MaxSonar-WR, are used as height monitors, in bin level
measurement and proximity zone detection applications.

Ex. Distance measurement would be applied in a garage parking

application, sensing when a vehicle is pulled completely into a garage.

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 The MB7360 has been used as a bin level sensor

todetect the presence or absence of grain and
other materials in bin

Fig. 5.5.8 Ultra Sonic Sensor

5.5.8 VACUUM CLEANER

A vacuum cleaner, also known simply as a vacuum, is a device that causes
suction in order to remove debris from floors, upholstery, draperies and
other surfaces. It is generally electrically driven.

The dirt is collected by either a dustbag or a cyclone for later disposal. Vacuum

cleaners, which are used in homes as well as in industry, exist in a variety of

sizes and models—small battery-powered hand-held devices, wheeled canister
models for home use, domestic central vacuum cleaners, huge stationary
industrial appliances that can handle several hundred litres of dust before being
emptied, and self-propelled vacuum trucks for recovery of large spills or
removal of contaminated soil. Specialized shop vacuums can be used to suck up
both dust and liquid.

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Most vacuum cleaners are supplied with numerous specialized attachments,

such as tools, brushes and extension wands, which allow them to reach
otherwise inaccessible places or to be used for cleaning a variety of surfaces.The
most common of these tools are:

 Hard floor brush (for non-upright designs) Powered floor nozzle (for canister
designs)
 Dusting brush
 Crevice tool
 Upholstery nozzle

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5.5.9.1 Specifications
The performance of a vacuum cleaner can be measured by several parameters:

 Airflow, in litres per second [l/s] or cubic feet per minute (CFM or ft³/min)
 Air speed, in metres per second [m/s] or miles per hour [mph]
 Suction, vacuum, or water lift, in pascals [Pa] or inches

of water Other specifications of a vacuum cleanerare:

 Weight, in kilograms [kg] or pounds [lb]

 Noise, in decibels [dB]
 Power cord length and hose length (as applicable)

Suction
The suction is the maximum pressure difference that the pump can create.For
example, a typical domestic model has a suction of about negative 20 kPa.

Input power
The power consumption of a vacuum cleaner, in watts, is often the only figure
stated. Many North American vacuum manufacturers give the current only in
amperes (e.g. "6 amps"), and the consumer is left to multiply that by the line
voltage of 120 volts to get the approximate power ratings in watts. The rated
input power does not indicate the effectiveness of the cleaner, only how much
electricity it consumes.

Output power
The amount of input power that is converted into airflow at the end of the
cleaning hose is sometimes stated, and is measured in airwatts: the
measurement units are simply watts. The word "air" is used to clarify that
this is output power, not input electrical power.

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5.5.9 MOP
A mop (such as a floor mop) is a mass or bundle of coarse strings or yarn, etc.,
or a piece of cloth, sponge or other absorbent material, attached to apole or
stick. It is used to soak up liquid, for cleaning floors and other surfaces, to mop
up dust, or for other cleaning purposes.

There are two types of mops:

 Dry Mops

 Wet Mops

Dry mop, dust mop

A dry mop or dust mop is designed to pick up dry, loose contamination such as
dust, earth, and sand from the surface of the floor. It consists of yarn and/or
microfiber and can be used as a first step in cleaning a floor.

Professional dry mops consist of a flat sheet of microfiber textile or sheets with
a surface of looped yarn, usually about 15 cm (6 in) wide, and comes in variable
lengths .

The dry mop can in many instances replace a broom and has the ability to hold a
limited amount of dust or sand within itself. The heads of dry mops areoften
removable and can be washed and replaced when saturated with dust.[5]Another
option is using a vacuum cleaner to suck surface dust away from the mop;
however, this is much more limited in its effectiveness.

Single-use dry mops are also available and widely sold.

Wet-mop, moist-mop
A wet mop or moist mop is, in professional cleaning, used as in the second stepin
the cleaning of a surface. The wet mop is swept over the surface to dissolve and
absorb fat, mud and dried-in liquid contaminations. Professional wet mops
consist of a flat sheet of microfiber textile or a sheet with a surface of
looped yarn (which might contain microfiber as well), usually about 15 cm
(6in) wide, and come in various lengths (usually 30–100 cm ).

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Fig. 5.5.10 Mop

5.5.10 SMALL WATER TANK

Water tanks are used to provide storage of water for use in many
applications, drinking water, irrigation agriculture, fire suppression,
agricultural farming, both for plants and livestock, chemical manufacturing,
food preparation as well as many other uses. Water tank parameters include
the general design of the tank, and choice of construction materials, linings.
Various materials are used for making a water tank: (polyethylene,
polypropylene), fiberglass, concrete, stone, steel (welded or bolted,[1] carbon,
or stainless).

Fig. 5.5.11 Small Water Tank

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5.6 SOFTWARE METHODOLOGY

5.6.1 Image Capturing

We will make use of some basic parameters over camera so for example the
resolution, brightness, contrast and the frame rate. After that we used some
default values for our brightness, contrast and saturation. You can play with
these parameters adding your own. Next is frame per second. So its default
value is 0 means our camera will try to capture as many framesit can.

But if you have to capture 30 frames per second then we can specify 30 as a
parameter. Let's say if we want to capture 100 frames so we can specify a
hundred here. But we will specify the zeros so that our camera can try to capture
maximum frames as much as it can.

5.6.2 Video Capturing

In this section, we have to access a video from a raspy cam. Here we are not
going to make use of any different function. Rather than that we will use a
different approach. Initially we read video before displaying. In OpenCV, videocan
either be read by using feed from camera or by reading a video file. After reading,
we will display the video frame by frame. The frame of a video is simply an image
and we display each fame the same way we display image that is we use
functions like imshow(), in which window automatically fits to image size. As in
the case of image, we use the wait Key() in order to pause each frame in the
video. In the case of image, we pass “0” to the wait Key() function, but for playing
a video, we need to pass number greater than “0” to the wait Key() function. This
is because “0” would pause the frame in the video for an infinite amount of time
and in video we need each frame to be shown only for some finite interval of
time. So, we need to pass number greater than “0” to the wait key function.
This number is equal to the time inmilliseconds we want each frame to be
displayed. In rare cases, when the playback needs to be at a certain frame
rate , we may want a delay higher than one millisecond.

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For this project I will use it resolution of 360 by 240 for our image
processing. We will not process our images in high quality or in full HD
because our Raspberry Pi cannot handle the image processing at high
bitrate. We can see at high resolution and most importantly 360 by 240
frame is enough to capture all the details that we want. So there's nopoint
to capture a high resolution images for our image processing.

5.6.3 Calculation of Frames Per Second

Now in this step we will calculate the total frame rate for our video stream.FPS
can be defined as the number of full screen images that are displayed each
second. It has wide range of application in video and playback and is also used
to measure the game performance.
Here, this function is just created to make the processor busy.

Each frame is a still image; displaying frames in quick succession creates the
illusion of motion. The more frames per second (fps), the smoother the motion
appears. In general, the minimum fps needed to avoid jerky motion is about 30

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5.6.4 Calculation of Frames Per Second

Now in this step we will calculate the total frame rate for our video stream.FPS
can be defined as the number of full screen images that are displayed each
second. It has wide range of application in video and playback and is also used
to measure the game performance.
Here, this function is just created to make the processor busy.

Each frame is a still image; displaying frames in quick succession creates the
illusion of motion. The more frames per second (fps), the smoother the
motion appears. In general, the minimum fps needed to avoid jerky motion is
about 30.

5.6.5 Convert Image Signature

The function cVtColor in C++ converts the image given as input from one color
space to another. When we want transformation of color space from RGB to any
other color space we have to mention it explicitly(RGB OR BGR). By default the
color format in OpenCV is RGB but the bits are actually reversed i.e BGR .
Therefore the first byte in standard color image is 8-bit Blue component ,next is
Green and the third component will be Red. For linear transformations we don’t
need to expilcitly provide the range for RGB color image but in case of non-linear
transformations the image should be properly normalized to a proper pre-
defined value of range to get the properresults. If we use this function for 8-bit
images some information will be lost during conversion. So it is better to use cVt
Color function with 32- bit imagesso that information is retrieved and is not lost.
This function will automatically convert the image before operation for the
applications that will provide the full range of colors.

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5.6.6 Threshold Operations
Thresholding is one of the simplest segmentation method used in OpenCv4. It
has wide range of applications in separating the areas of an image
corresponding to the object we want to analyze. This separation principle is
based on the difference in the intensities of object pixels and background pixels.
For differentiating the pixels from an image which we want to remove the
intensities values are compared with respect to a threshold value which is
determined according to the problem which we solve. Once the pixels are
separated out properly we can provide them predetermined value so that it
becomes easyto identify them. In OpenCV4 the function thresholds
perform different thresholding operations. They are namely Threshold
Binary , Threshold Binary(Inverted) , Truncate , Threshold to Zero and
Threshold to Zero(Inverted).

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5.6.6. Canny Edge Detection

It is a popular edge detection algorithm which is been used in OpenCV4. The

function used for such detections are cv.Canny. It is a multistage process which
can be explained through the below following steps:-

 NOISE REDUCTION
In the very beginning since the edge detection is sensitive to noise
therefore it is essential to remove noise in the image using a Gaussian
filter of dimension (5*5).
 FINDING INTENSITY GRADIENT OF THE IMAGE
Now the smoothend image is filtered in both horizontal and vertical
direction using Sobel Kernel to get the first derivative in horizontal and
vertical directions respectively. Using these images we find edge
gradient and direction for each pixel in the image. The Gradient
direction is always perpendicular to the edges of the image object .
 NON-MAXIMUM SUPRESSION
After determining the magnitude of gradient and direction the image is
scanned and unwanted pixels are removed which does not comprisesof
the image. At every pixel point it is been verified that its local maximum is
in the neighbourhood direction of i

ts gradient.

Fig.5.6.6.1 Candy Edge Detection

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 HYSTERESIS THRESHOLDING
As the name suggest this stage decides whether the edges are real or not.
The edges are evaluated on the basis of two threshold values which are
min Val and max Val. The edges which have intensity gradient more than
max Val are sure to be edge while thos edges which have intensity
gradient less than min Val are non-edges i.e. not real edges. For those
edges whose intensity lie between the specified interval value are
considered to be a part of edges and are sure-edges.Otherwise they too
can be discarded.

Fig. 5.6.6.2 Hysteresis Graph

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CHAPTER-6

RESULT

(a) (b)

(c) (d)

(e)
Fig 6. Axial Representation Of Automatic Vacuum Cleaner

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A).TOP VIEW
B).BOTTOM VIEW
C).FRONT VIEW
D) .BACK VIEW
E)ISOLATED VIEW

 The robot which we design will facilitate efficient floor cleaning with
sweeping and mopping operations.

 It will work only in automatic mode or with the help of remote control .

 It will also provide the hurdle detection in case of any obstacles that
comes in its way, hurdle is detected using ultrasonic sensor.

 ultrasonic sensor also helps in detecting depth such as stair which

prevent robot from falling.

 Our design will be helpful in overcoming the limitation of the existing

technology,i.e. instead of zigzag movement of the robot, our system will
follow straight path (edge detection).

 Along with sensor the robot also consist of vacuum pump, mop and battery
.

 vacuum pump help in sucking dust, and this suction of dust will take
place from the front side of model.

 mop is used in case we want wet mopping.

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CHAPTER-7
CONCLUSION AND SCOPE FOR FUTURE WORK
The autonomous vacuum cleaner is not yet ready for commercialization
,which was never the goal of the project. Many of the achieved result are very
promising .the shape of the robot is well suited for the application specially for
the task like cleaning along the ball, along legs and corners. the ultrasonic sensor
is able to identified obstacles .The combination of the robot shape and ultrasonic
sensor system and its algorithm play well together and make the task of cleaning
an unknown and un structure environment feasible.

The future work of robot may include

 Image/video captured of a objects can be fed to the controller so that

the robot can clean the entire house according to the input fed.

 Currently image is captured only for edge detection for movement in

proper path, not for object detection.

 The cleaning mechanism on the robot can be replaced by a handlike

structure so that it can lift things from one place to another.

 Voice controlled locomotion of robot instead of remote control.

 Automatic charging.

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