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Design and Development of Mopping Bot

Abstract

In this present era, people live a very busy life. People in cities have irregular and long working times. In such a situation a person will always find ways of saving time. household chores are the ones that are most dreaded upon. And cleaning a home tops the list. It is not only time consuming, but also its very tiring. Especially for working women it becomes difficult to handle both home and office work together. She has to do the household chores in the morning, go to work and do the works there and return home in the evening to again start her chores at home. Thus she lives a dual life. In this dual life, we thought of gifting her away of saving some of her precious time. The requirement of a House Cleaning Robot is born. For saving time we needed an automatic system that cleans on its own without human interventions. Also, we did think about how to aid people with physical disabilities. Since we had to do this, we knew that we needed a cleaning system that could work in accordance to what we say, thus helping a physically disabled person.

Name of group members

Aman pandya 0827ME151008

Ankit singh kushwaha 0827ME151013

Anuj chourey 0827ME151016

Ashutosh agrawal 0827ME151020

Presentation slide

Presentation-I

Outline

Introduction
Process study & implementation
Designing
Raw material selected
Future planning & outcomes

INTRODUCTION

Identify and design an autonomous robot that will assist people at home who are too busy for daily or weekly floor cleaning, especially for families with children. In particular for the elderly who live by themselves and do not have the strength or ability to clean.Robotic vacuum cleaners in the market are expensive and inefficient in terms of cleaning time and cleanness. The goal is to design a cleaning bot with wireless sensors, and four bristle brushes on everyside to improve the cited cleaning performance problems.
The first ever robotic vacuum cleaner appeared in 1996.It worked fairly well but it had problems such as colliding with objects and it was too costly to be used by middle income families so these are from many reasons that it never entered mass production.
The mopping bot that we have designed can change our thinking towards traditional way of mopping and cleaning floor manually.What’s more, we can assure that the cleaning bot that we have outlined will going to help growing the activity of swachta abhiyan led by our respectable prime minister shree NarendraModiji.
It is a cleaner that has a level of autonomy from a user and is programmed to clean. It uses mop to clean while possessing additional methods like spinning brushes, mopping and sensors etc. The fundamental specialized highlights that our Bot going to resemble is that they are less loud contrasted with the standard cleaner. They spare time since they can be allowed to sit unbothered to complete their activity. They simply should be put in the room that necessities cleaning, All robotic vacuum cleaners that are out in the market today are disk shaped. The problem with that is that they cannot clean the corners of rooms very well. Since our main objective was to improve the overall cleaning efficiency, we decided to change the shape from a circle to a square. The square design will allow our vacuum to clean the corners of rooms better.

STUDY & IMPLEMENTATION

After studying various research papers we have taken our ideas for designing from below mentioned research paper.

A TECHNOLOGICAL SURVEY ON HOME CLEANING ROBOTS : IJSPR,VOLUME 4,ISSUE 4.

By : Abhishek Pandey ,Anirudh Kaushik, Amit Kumar Jha,Girish Kapse.

Description

Tentative size of our bot is 30 cm* 20cm and 10cm high . A large contact-sensing mechanical bumper is mounted on the front half of the unit, with an omnidirectional infrared sensor at its top front center. A recessed carrying handle is fitted on the top of most units.

All utilize a pair of brushes, rotating in opposite directions, to pick up debris from the floor. In most models, the brushes are then followed by a squeegee vacuum, which directs the airflow through a narrow slit to increase its velocity in order to collect fine dust.

OPERATION

Our bot can be operated by manually carrying them to the room to be cleaned and pressing the appropriate button.

The robot's spring which we used in it prevents it from bumping into walls and furniture by reversing or changing path accordingly.

The cleaning time depends on room size and, for newer models equipped with acoustic dirt sensors, volume of dirt.

First we have decided to give it a wired power supply and then will switch towards wireless battery supply.

Design

Raw Materials

Plastic Box
Sensors
Battery 9v -2 “parallel connection”
Arduino
Wheels
Water Tank
Pipes with valve
Scruber
Electric motor
Wiring
Chasis

Future planning

Buying of all the raw material that we have selected.
After completing design on creo and we will apply various loads and check our design under various conditions on ansys software
After successful completion of design we will start the manufacturing process which will be explained in our next progress report.

Outcomes

Lower dependence on labor
Cheaper spending over 5 years
Less costly than present available models in markets.
More efficient than labor
Need no observation

Presentation-II

CONTENT

Material Selection.
bill Of Materials.
Revised Design.
Manufacturing Of Bot.

Material Selection

Various alteratives in terms of model or types were available for various parts that we have used in our Bot

Chasis.
Battery.
Motor.
Sensors.
Aurdino.

Chassis

Metallic chassis

Acrylic Plastic Chassis

Battery

Acid Battery

Lean battery

MOTOR

BO motor

D.C Motor

SENSORS

IR SENSOR

ULTRASONIC SENSOR

MANUFACTURING PLANNING

•Selection of acrylic plastic chassis from available options due to –

- Rigid, with good impact strength

- appealing factor

- lightness it possess in terms of weight.

- Excellent optical clarity.

•Ultra sonic sensors are used because they possess high frequency, high sensitivity and high penetrating power therefore it can easily detect the external or deep objects. These sensors have greater accuracy then other methods for measuring the thickness and depth of parallel surface. although ir sensors were cheaper as compare to ultrasonic but still we have chosen UR sensors over them because of above benefits.

•Stationary scrubber been replaced by mobile scrubber because on testing with stationary scrubber it was found that dirt of floor sticks on mop and hinders its efficiency drastically and also it is creating lot of friction resulting in reduced speed of our bot hence we replaced it with mobile scrubber.

• Water Sprinkling System: The DC 3-6V Water Pump is ideal as

it does not run a forceful stream.

Detailed project report

Arduino

UNO ARDUINO

MEGA AURDUINO

ARDUINO

Arduino is an open source computer hardware and software company, project, and user community that designs and manufactures single-board micro-controllers and micro-controller kits for building digital devices and interactive objects that can sense and control objects in the physical and digital world.

COST OF MATERIALS

12V Lead Acid Battery= RS 450
12V Lean Battery= RS 1500
Metallic Chassis= RS 150
Acrylic Plastic Chassis= RS 120
B.O. Motor= RS 120
D.C. Motor= RS 180

New design

Chapter 1

Bot description

The house cleaning robot uses a micro-controller to detect obstacles and manipulates its direction as per the inputs from ultrasonic sensors mounted in front, right and left of the robot or the digital signal processor. The heart of the system is a micro-controller. It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. There are 3 ultrasonic sensors used in this project- one at the front, and the remaining on the left and right of the robot to detect obstacles, if any. In case of an obstacle, or a potential collision, the micro-controller controls the wheels of the robot by a motor driver to avoid collision. The water sprinkler system is mounted on the front side of the robot which will sprinkle the water from the tank via pump.

Auto mode: In this mode, the micro-controller Is programmed in such a way that it takes the decision and changes the path of the robot as per the sensor inputs to avoid the obstacles. A timer is used to set the time limit for the cleaning process.

Aim

To design a bot which will not only clean the floor but also save the money.

Objective

They generally come with reservoirs you need to fill up with water and/or cleaning solution, and microfiber cloths that scrub your floors and pick up dirt. They also feature sensors to help them autonomously navigate around your furniture.

Chapter 2

Problem statement

To reduce the problems like household chores ,working time, knackeredness etc.

by reducing human efforts, saving time or by promoting futuristic automations.

Chapter 3

Control unit

Ardino uno

The Arduino UNO is an open-source microcontroller board based on the Microchip ATmega328P micro-controller and developed by Arduino.cc. The board is equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to various expansion boards (shields) and other circuits. The board has 14 Digital pins, 6 Analog pins, and programmable with the Arduino IDE (Integrated Development Environment) via a type B USB cable.

Motor driver

A motor driver is a device that serves to govern in some predetermined manner the performance of an electric motor. It might include a manual or automatic means for starting and stopping the motor, selecting forward or reverse rotation, selecting and regulating the speed, regulating or limiting the torque, and protecting against overloads and faults.

A motor controller is a device or group of devices that serves to govern in some predetermined manner the performance of an electric motor. A motor controller might include a manual or automatic means for starting and stopping the motor, selecting forward or reverse rotation, selecting and regulating the speed, regulating or limiting the torque, and protecting against overloads and faults

Now, we are using DC motor driver i.e. L293D

Sensor

a device which detects or measures a physical property and records, indicates, or otherwise responds to it.

Temperature Sensor.
Proximity Sensor.
Accelerometer.
IR Sensor (Infrared Sensor)
Pressure Sensor.
Light Sensor.
Ultrasonic Sensor.
Smoke, Gas and Alcohol Sensor.

We are using ultrasonic SR04 sensor

The HC-SR04 ultrasonic distance sensor uses sonar to determine distance to an object with stable readings and high accuracy . The module includes ultrasonic transmitter, receiver and control circuit.

Actuators

An actuator is a component of a machine that is responsible for moving and controlling a mechanism or system, for example by opening a valve.In simple terms, it is a "mover". An actuator requires a control signal and a source of energy. The control signal is relatively low energy and may be electric voltage or current, pneumatic or hydraulic pressure, or even human power. Its main energy source may be an electric current , hydraulic fluid pressure, or pneumatic pressure. When it receives a control signal, an actuator responds by converting the signal's energy into mechanical motion.

An actuator is the mechanism by which a control system acts upon an environment. The control system can be simple (a fixed mechanical or electronic system), software-based (e.g. a printer driver, robot control system), a human, or any other input.

Motor

An engine or motor is a machine designed to convert one form of energy into mechanical energy.^[1]^[2] Heat engines burn a fuel to create heat which is then used to do work. Internal combustion engines are heat engines that burn fuel in a combustion chamber to extract work from the pressure of expanding gases. Electric motors convert electrical energy into mechanical motion; pneumatic motors use compressed air; and clockwork motors in wind-up toys use elastic energy. In biological systems, molecular motors, like myosins in muscles, use chemical energy to create forces and eventually motion.

Types of motors

· DC Series Motor.

· DC Shunt Motor.

· Cumulative Compound Motor.

· Three phase Synchronous Motor.

· Squirrel Cage Induction Motor.

· Double Squirrel Cage Motor.

· Slip ring Induction Motor.

· Single phase Synchronous Motor

In this we are using the DC series motor.

PUMP

A pump is a device that moves fluids (liquids or gases), or sometimes slurries, by mechanical action. Pumps can be classified into three major groups according to the method they use to move the fluid: direct lift, displacement, and gravity pumps.^[1]

Pumps operate by some mechanism (typically reciprocating or rotary), and consume energy to perform mechanical work for moving the fluid. Pumps operate via many energy sources, including manual operation, electricity, engines, or wind power, come in many sizes, from microscopic for use in medical applications to large industrial pumps.

Mechanical pumps serve in a wide range of applications such as pumping water from wells, aquarium filtering etc.

TYPES OF PUMPS

Rotary positive displacement pumps. Rotary vane pump. ...
Reciprocating positive displacement pumps.
Simple hand pump. ...
Various positive-displacement pumps. ...
Helico-axial pumps (centrifugal) ...
Twin-screw (positive-displacement) ...
Progressive cavity (positive-displacement) ...
Electric submersible (centrifugal).

In our bot we are using electrical submersible pump.

Chapter 4 Working principle

The robot starts working in the forward and backward direction . for automatic operation mode, obstacle detecton is needed . so, for that transmitter and receiver circuit has been used . which will be fulfilled by using ultrasonic sensors. And for mopping purpose water is applied on floor via submersible pump and then scrubber has been used to clean the floor.

Chapter 5 Sensor

int trig1 = 3;

int echo1 = 5;

int trig2 = 6;

int echo2 = 9;

int trig3 = 10;

int echo3 = 11;

int mA1 = 4;

int mA2 = 7;

int mB1 = 12;

int mB2 = 13;

float pingtime1;

float distance1;

float pingtime2;

float distance2;

float pingtime3;

float distance3;

float speedofsound = 13397.2441;

void setup() {

Serial.begin(9600);

Serial.println("Measuring the distance1");

Serial.println("Measuring the distance2");

Serial.println("Measuring the distance3");

pinMode(trig1, OUTPUT);

pinMode(echo1, INPUT);

pinMode(trig2, OUTPUT);

pinMode(echo2, INPUT);

pinMode(trig3, OUTPUT);

pinMode(echo3, INPUT);

pinMode(mA1, OUTPUT);

pinMode(mA2, OUTPUT);

pinMode(mB1, OUTPUT);

pinMode(mB2, OUTPUT);

}

void loop() {

digitalWrite(trig1, LOW);

delayMicroseconds(3000);

digitalWrite(trig1, HIGH);

delayMicroseconds(10);

digitalWrite(trig1, LOW);

pingtime1 = pulseIn(echo1, HIGH);

pingtime1 = pingtime1 / 1000000.;

distance1 = pingtime1 * speedofsound;

distance1 = distance1 / 2; //because the pulse have travelled the same distance twice

digitalWrite(trig2, LOW);

delayMicroseconds(3000);

digitalWrite(trig2, HIGH);

delayMicroseconds(10);

digitalWrite(trig2, LOW);

pingtime2 = pulseIn(echo2, HIGH);

pingtime2 = pingtime2 / 1000000.;

distance2 = pingtime2 * speedofsound;

distance2 = distance2 / 2; //because the pulse have travelled the same distance twice

digitalWrite(trig3, LOW);

delayMicroseconds(3000);

digitalWrite(trig3, HIGH);

delayMicroseconds(10);

digitalWrite(trig3, LOW);

pingtime3 = pulseIn(echo3, HIGH);

pingtime3 = pingtime3 / 1000000.;

distance3 = pingtime3 * speedofsound;

distance3 = distance3 / 2;

if (distance1 > 5 && distance2 > 5 && distance3 > 5)

{

digitalWrite(mA2, HIGH);

digitalWrite(mA1, LOW);

digitalWrite(mB2, HIGH);

digitalWrite(mB1, LOW);

}

else if (distance1 > 5 && distance2 > 5 && distance3 < 5)

{

digitalWrite(mA1, LOW);

digitalWrite(mA2, HIGH);

digitalWrite(mB1, HIGH);

digitalWrite(mB2, LOW);

delay(5000);

}

else if (distance1 > 5 && distance2 < 5 && distance3 > 5)

{

digitalWrite(mA1, HIGH);

digitalWrite(mA2, LOW);

digitalWrite(mB1, LOW);

digitalWrite(mB2, HIGH);

delay(5000);

}

else if (distance1 < 5 && distance2 > 5 && distance3 > 5)

{

digitalWrite(mA1, HIGH);

digitalWrite(mA2, LOW);

digitalWrite(mB1, LOW);

digitalWrite(mB2, HIGH);

delay(5000);

}

else if (distance1 > 5 && distance2 < 5 && distance3 < 5)

{

digitalWrite(mA1, HIGH);

digitalWrite(mA2, LOW);

digitalWrite(mB1, HIGH);

digitalWrite(mB2, LOW);

delay(5000);

}

else if (distance1 < 5 && distance2 > 5 && distance3 < 5)

{

digitalWrite(mA1, LOW);

digitalWrite(mA2, HIGH);

digitalWrite(mB1, HIGH);

digitalWrite(mB2, LOW);

delay(5000);

}

else if (distance1 < 5 && distance2 < 5 && distance3 > 5)

{

digitalWrite(mA1, HIGH);

digitalWrite(mA2, LOW);

digitalWrite(mB1, LOW);

digitalWrite(mB2, HIGH);

delay(5000);

}

else if (distance1 < 5 && distance2 < 5 && distance3 < 5)

{

digitalWrite(mA2, HIGH);

digitalWrite(mA1, LOW);

digitalWrite(mB2, HIGH);

digitalWrite(mB1, LOW);

delay(5000);

}

Chapter 6

Assembly + design

Description videos

Chapter 7

Bill of material

Chapter 8

Applications

We can use the robot for cleaning purpose in the following,

Hospitals,

School floors,

Libraries,

Cooridors,

Households etc.

Our bot is mainly focused on library purpose.

FUTURE SCOPE :

As we mentioned in the objectives of this survey, we were able to demonstrate the intended application of the system. This concept has proven to be an efficient way of saving time and helping physically disabled people. This system is especially beneficial to working women. As specified the user can switch on the device and go for any other work and the robot will automatically clean the floor by detecting and avoiding the obstacles on its way. As the device has a manual mode, the user can also control the robot as per his/her wish. The micro-controller can be easily used to modify and enhance the various capabilities of any bot, evolving its capabilities to explore new pathways of working efficiently. Sensors, IR and bump, are effective in movement of bot around cliff and boundaries of the room. These sensors, with, greater resolution can give the correctness of movement to degrees which lead to smooth cleaning of the room. With advancement in manufacturing technology and computational speed of microprocessors, a swarm of cleaner robot can perform the above mentioned actions. Companies are now releasing scrubber versions of the same breed of domestic robots which can work in tandem if synchronized correctly GSM modules can be added to the domestic robots making them easy to operate and accessible from any part of the world. The technology seems a bit far fetched and difficult to implement on a great technological level, but the advent of these ideas can lead to a breakthrough in modern domestic robot industry.

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