A PROJECT REPORT
ON
“AFCR
(Automatic Floor Cleaning Robot)”
SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
FOR THE AWARD OF
DIPLOMA IN
MECHANICAL ENGINEERING
SUBMITTED TO
MAHARASHTRA STATE BOARD OF TECHNICAL EDUCATION,
MUMBAI
SUBMITTED BY
NAME OF THE STUDENT ENROLLMENT NO. EXAM SEAT NO.
1. OMKAR MATEKAR 2201340369
2. SUMEET ROKADE 2101340288
3. SANYUKTA THIKE 2201340368
4. SHIVAM INGOLE 2101340267
GUIDED BY
Mr. Rahul Baviskar
DR. D. Y. PATIL PRATISHTHAN'S Y. B. PATIL POLYTECHNIC
2024-2025
1
DR. D. Y. PATIL PRATISHTHAN'S Y. B. PATIL POLYTECHNIC
CERTIFICATE
This is to Certify that the project report entitled AFCR(Automatic Floor Cleaning
Robot)Was successfully completed by Student of sixth semester Diploma in
Mechanical Engineering
NAME OF THE STUDENT ENROLLMENT NO. EXAM SEAT NO.
OMKAR MATEKAR 2201340369
SUMEET ROKADE 2101340288
SANYUKTA THIKE 2201340368
SHIVAM INGOLE 2101340267
In partial fulfillment of the requirements for the award of the Diploma in Name
of the Department and submitted to the Department of Name of the Department
of Name of institute work carried out during a period for the academic year 20xx-
xx as per curriculum
.
Mr. Rahul Baviskar External Examiner
(Project Guide)
Mr. N.S. Swami Dr. A.S. Kondekar
(Principal)
(HOD of Mechanical Engineering
department)
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ACKNOWLEDGEMENT
We would like to express our sincere gratitude to our mentor, Mr. Rahul
Baviskar, for her invaluable guidance, support, and encouragement throughout the
development of our project, AFCR (Automatic Floor Cleaning Robot). Her
expertise and insightful feedback have been instrumental in shaping the project
and overcoming technical challenges.
We are also grateful to our college, Y.B. Patil Polytechnic, Akurdi, for
providing us with the necessary infrastructure and resources to carry out this
project effectively.
We would also like to acknowledge the teamwork and dedication of all the
project members. The combined efforts, technical expertise, and problem-solving
skills of each team member have led to the successful completion of this project.
Finally, we extend our heartfelt thanks to our friends and family for their
constant support and motivation throughout this journey. This project would not
have been possible without the collective efforts and encouragement from
everyone involved.
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INDEX / CONTEXT
Sr.
No. Title Page No.
1 Abstract 5
2 Introduction 6
3 Research Method 8
4 Construction & Working 9
5 System Design And Components 11
6 Design & CAD Model 15
7 Components & Specification 18
8 Budget & Cost Estimation 25
9 Conclusion 26
10 Reference 27
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ABSTRACT
Cleaning the floor from dust is one of the routine activities carried out
every day. This activity is not only at home but also in offices or
shopping centers. Sometimes due to dust cleaning activities take a
long time then there are other activities that are overlooked. For this
reason, we are trying to develop a smart floor cleaning robot that can
navigate, clean dust, and polish floors automatically. The study
was conducted using Pressman's research and development
methods which included the following phases: analysis, design,
implementation and testing. The robot, developed using an motor,
wheel and is equipped with a floor cleaner and floor polishing
motor. The control system used is based on the Nano Arduino
microcontroller, the robot is also equipped with a Battery system so
that it can be powered freely. Besides this robot is also able to move
to avoid obstacles if the distance between the robot and the barrier
is less than 10 cm. Floor cleaning performance on various types of
dirt is quite good with only leaving dirt on the floor less than 20%.
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INTRODUCTION
Cleaning the floor from dust is one of the routine activities carried out
every day. This activity is not only at home but also in offices and
shopping centers. Sometimes because the activity of cleaning the floor
takes a long time then there are other activities that are overlooked.
Floor cleaning activities in public spaces even have to be done all the
time is not enough to be scheduled in the morning or evening, this
requires the janitor to always be ready at all times to clean the floor.
In recent years, robotic cleaners have gained lot of popularity in
field of robotics research. Due to there vast usage in assisting
humans in floor cleaning application at home, hotels, restaurants,
offices, hospitals, workshops. Some of the advantages of
operating mechanism are less time consuming and energy efficient
but on the other hand it can be less energy efficient due to random
cleaning process .The main objective of this work is to provide a
optimum solution to the problem of manufacturing robotic
cleaner utilizing local resources while keeping it low costs.
In this work, “smart floor cleaning robot (CLEANER)” has been
designed for consumer/office environments and its each
component in accordance with IEEE Standards. 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 of infrared sensors, ultrasonic sensors and tactile sensors
after being processed by Arduino controller and control the
actuators 2 DC encoder motors by the H-bridge driving circuitry. In
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manual mode, the robot can 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.
8The mechanical design of robot including chassis design,
brushing, floor cleaning and dirt disposal mechanism. Electronic
circuitry (including motor controllers, floor cleaner controller,
battery status meters and brushing motor controller along with
safety circuit for power supply to sensors, Arduino controller as
well as precautionary circuit) is discussed in Section Graphical
User Interface (GUI) of the project and robot operation are
discussed in Section IV.
Mechanical body consists of four parts i.e. chassis, brushing, floor
cleaning and dirt disposal mechanism. Combination all these four
parts makes a complete prototype for testing,.
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RESEARCH METHOD
The development of floor cleaning robot using research and
development (R & D) method, which refers to the method
developed by Pressman[6]. The stages that must be passed are:
analysis, design, implementation and testing. Analysis phase is to
identify and obtain data about the needs of what is required in the
design and implementation of systems.
a. Analysis of user needs, analysis of what needs are needed by
users to be applied to the robot system that was developed
such as a floor cleaner, motor polish, and robot navigation
control components.
b. Job analysis, i.e. analysis of data performance to be carried out
by the system to be designed.
c. Data analysis, i.e. analysis of what data will be processed either
as input or as an output.
d. Technology analysis, i.e. analysis of what technology will
be used in the system to be designed.
Design is the stage carried out to achieve the most effective and
efficient system implementation with the help of data obtained at
the analysis stage. In the design we will get a framework for
implementing the system. There are several stages in design, namely:
a. The design of a mechanical system consisting of a robot body
chassis, a controller module, a interface with Arduino.
b. The design of electronic circuits that will be used in the
design of robot motion navigation systems.
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Construction & Working
A. Chassis
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, aluminum angular brackets and aluminum
holders for two lead acid batteries of 12V and 1.2Amp rating.
These motors are independently powered and mounted diagonally
and two ball casters are placed at other diagonal of acrylic sheet so
that motors can move along its axis easily and more weight as
compared to chain mechanism. Cleaning robot includes a DC
geared motor, sprockets for moving chain from geared motor to
rotating brush and two aluminum rods for supporting floor
cleaner mechanism and dirt compartment. This DC geared motor
fitted on one side of acrylic sheet with aluminum holder and
sprockets installed with it which have been fitted into shaft of
motor. All desired components are installed on lower side of
acrylic sheet so that center of gravity should be lower and robot
would be stable.
B. Brushing
Brushing mechanism consists of rolling brush, steel sheet for
cover, two aluminum holders, two ball-bearing and one mild steel
strip. One rolling brush mounted on aluminum holders with
bearings inside them. This mechanism is attached through mild
steel strip to the base of robot. Brush is used to broom the dirt
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particles into the floor chamber in case of carpeted floor for efficient
cleaning.
METHODOLOGY
Methodology of working process
Study of different Research papers
Framing of project setup (Line diagram of the Model)
Dimensioning of frame, Specification of the
component for setting up a conceptual model
Assembling Of different components
Results & disscusion about the error in the
conceptual model
Fig. 5 Flow Chart For Working Process
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SYSTEM DESIGN & COMPONENT
In our attempt to design a special purpose machine we have adopted a
very a very careful approach, the total design work has been divided
into two parts mainly;
System design
Mechanical design
System design mainly concerns with the various physical constraints
and ergonomics , space requirements, arrangement of various
components on the main frame of machine no of controls position of
these controls ease of maintenance scope of further improvement ;
weight of m/c from ground etc.
In Mechanical design the component in two categories.
Design parts
Parts to be purchased.
For design parts detail design is done and dimensions thus obtained
are compared to next highest dimension which are readily available in
market this simplifies the assembly as well as post production
servicing work.
The various tolerance on work are specified in the manufacturing
drawings the process charts are prepared & passed on to the
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manufacturing stage .The parts are to be purchased directly are
specified &selected from standard catalogues.
3.1 System Design
In system design we mainly concentrate on the following parameter
3.1.1 System selection based on physical constraints
While selecting any m/c it must be checked whether it is going to be
used in large scale or small scale industry in our care it is to be used in
small scale industry so space is a major constrain .The system is to be
very compact it can be adjusted to corner of a room. The mechanical
design has direct norms with the system design hence the foremost
job is to control the physical parameters so that the distinction
obtained after mechanical design can be well fitted into that.
3.1.2 Arrangement of various component
Keeping into view the space restriction the components should be laid
such that their easy removal or servicing is possible moreover every
component should be easily seen & none should be hidden every
possible space is utilized in component arrangement.
3.1.3 Components of system
As already stated system should be compact enough so that it can be
accommodated at a corner of a room. All the moving parts should be
well closed & compact A compact system gives a better look &
structure.
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3.1.4 Man –m/c Interaction
The friendliness of m/c with the operation is an important criterion of
design. It is application of anatomical
Following are some e.g. of this section
Design of machine height
Energy expenditure in hand operation
Lighting condition of m/c
3.1.5 Chances of failure
The losses incurred by owner in case of failure of a component are
important criteria of design. Factor of safety while doing the
mechanical design is kept high so that there are less chances of failure
there over periodic maintenance is required to keep the m/c trouble
free.
3.1.6 Servicing facility
The layout of components should be such that easy servicing is
possible especially those components which required frequent
servicing can be easily disassembled.
3.1.7 Weight of machine
The total weight of m/c depends upon the selection of material
components as well as dimension of components. A higher weighted
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m/c is difficult for transportation & in case of major break down it
becomes difficult to repair.
3.2 Mechanical Design
Mechanical design phase is very important from the view of designer
as whole success of the project depends on the correct deign analysis
of the problem.
Many preliminary alternatives are eliminated during this phase.
Designer should have adequate knowledge above physical properties
of material, loads stresses, deformation, and failure. Theories and
wear analysis, He should identify the external and internal forces
acting on the machine parts
These forces may be classified as;
a) Dead weight forces
b) Friction forces
c) Inertia forces
d) Centrifugal forces
e) Forces generated during power transmission etc
Designer should estimate these forces very accurately by using design
equations .If he does not have sufficient information to estimate them
he should make certain practical assumptions based on similar
conditions which will almost satisfy the functional needs.
Assumptions must always be on the safer side.
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Design & CAD Model
SYSTEM DESIGN
Flour cleaning vehicle is designed using Software Catia V5R20
Fig : all Views of the vehicle
Front View
15
Side View
Iso-metric View
16
Drafting of the project 3D Design is done using AutoCAD software:
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Components & Specification
DC Motor 30rpm
These motors are simple DC Motors featuring gears for the shaft for
obtaining the optimal performance characteristics. They are known as
Center Shaft DC Geared Motors because their shaft extends through
the center of their gear box assembly.
These standard size DC Motors are very easy to use. Also, you don’t
have to spend a lot of money to control motors with an Arduino or
compatible board. TheL298N H-bridge module with onboard voltage
regulator motor driver can be used with this motor that has a voltage
of between 5 and 35V DC.
This DC Motor – 30RPM – 12Volts can be used in all-terrain
robots and a variety of robotic applications. These motors have a 3
mm threaded drill hole in the middle of the shaft thus making it
simple to connect it to the wheels or any other mechanical assembly.
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Battery 12 volt 1.2 amp
12V 1.2Ah Rechargeable Lead Acid Battery is normally use for
robots in competition. Wired or Wireless Robots runs for a long time
with high speed with this type of battery. Seal Lead Acid (SLA)
Rechargeable battery is the most common general purpose battery.
Low cost, robust and less maintenance required are the advantages of
SLA. But it is considered heavy weight for certain robotic application.
To charge SLA batteries, you can use any general DC power supply
as long as it provides the correct voltage to your battery.
IR SENSOR
Infrared Obstacle Avoidance IR Sensor Module
IR Infrared Obstacle Avoidance Sensor Module has a pair of infrared
transmitting and receiving tubes. When the transmitted light waves
are reflected back, the reflected IR waves will be received by the
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receiver tube. The onboard comparator circuitry does the processing
and the green indicator LED comes to life.
The module features a 3 wire interface with Vcc, GND and an
OUTPUT pin on its tail. It works fine with 3v3 to 5V levels. Upon
hindrance/reflectance, the output pin gives out a digital signal (a low-
level signal). The onboard preset helps to fine tune the range of
operation, effective distance range is 2cm to 80cm.
Features:
Onboard detection indication
Effective distance range of 2cm to 80cm
A preset knob to fine-tune distance range
There is an obstacle, the green indicator light on the circuit board
Detection distance: 2 ~ 12cm
TTL output is high whenever it sense an obstacle
Detection angle: 35 °
Comparator chip: LM393
3mm screw holes for easy mounting
Dimensions: 48 x 14 x 8 mm (LxWxH)
Weight: 3gm
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Multi colour wire
This is a pack of 22 gauge multi-stranded wire. Perfect for making
long connections and also for use as a hook up wire while working on
prototype boards.
This pack contains 5 wires of different commonly used colors(black,
red, yellow, green and blue) each of length 1.4 meter. A total of 7
meter of wire comes with this pack.
Wheels 3 inch
A multipurpose plastic wheel with a diameter of around 7 cm. The
wheels comes with a plastic rubber tyre which provides good friction
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with most surfaces. The wheel is around 1.5cm thick. The wheel has a
center shaft hole of 6 mm diameter and can be used with our DC
Motors which come with a 6 mm shaft. The wheel comes with a set
screw at the shaft hole for easy attaching to motors and axles.
Cleaning brush
NANO ARDUINO
Nano Board R3 CH340 chip With USB Mini Cable compatible with
Arduino (soldered)
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The Nano Board R3 CH340 chip With USB Mini Cable chipboard is
based on famous Arduino platform and does all the functions of Uno,
but with a smaller footprint.
Nano Board R3 CH340 chip USB Mini Cable is vital for your small
project where you don’t need much of a pin-outs but the small size is
very important to make it look good.
The Nano equips a low-cost USB-Serial Chip that makes it less in
price than Nano with FTDI USB-Serial Chip used on older versions of
Nano.
The Nano is a small, complete, and breadboard-friendly board based
on the ATmega328 (Nano R3). It has more or less the same
functionality of the Uno but in a different package. It lacks only a DC
power jack and works with a Mini-B USB cable instead of a standard
one.
The Nano Arduino can be power via the mini-USB connection, 6-20V
unregulated external power supply (pin 30), or 5V regulated external
power supply (pin 27). The power source is automatically selected to
the highest voltage source.
The size of Nano V3.0 with CH340 Chip is only 43 mm x 18 mm; it
comes with 6 PWM I/O from the total of 14 digitals I/O, 8 analog
inputs, 16Mhz clock speed and 32kB of flash memory.
Features :
1. 1 pair of TTL level serial transceiver ports RX / TX
2. Using Atmel Atmega328P-AU MCU
3. There is a bootloader installed in it
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4. Support USB download and Power
5. Support for external 5V ~ 12V DC power supply
6. Support power supply by 9V battery
7. Support ISP download
8. Automatic reset during program download.
9. Power OK blue LED on the bottom.
10. Green (TX), red (RX) and orange (L) LED.
11. +5V to AREF jumper.
12. Auto sensing/switching power input.
13. Small mini-B USB for programming and serial monitor.
14. ICSP header for direct program download.
15. Standard 0.1” spacing DIP (breadboard friendly).
16. Manual reset switch.
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Budget & Cost Estimation
(ALL AMOUNT ARE IN RUPEES)
Total Funds Raised for Project
Sr. no Party name Amount
Student Contribution (Per student 2000) 4
1 students 8000
Total Amount 8000
Amount used for project
Sr. No Component Qty Cost
1 DC Motor 30rpm 06 180*6
2 Ir sensor 02 380
3 Battery 12 volt 1.2 amp 01 550
4 Vaccum Cleaner 01 950
5 Multi colour wire 05 200
6 Wheels 3 inch 04 100
7 Cleaning brush 02 250
8 Nano Ardino 01 380
9 Motor Driver LN298 01 250
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CONCLUSION
This paper shows the implementation of IEEE Standard 1621
IEEE Standard for User Interface Elements in Power Control of
Electronic Devices Employed in Office/Consumer Environments in
terms of smart floor cleaning robot. The paper shows a better
and simple approach to provide an overview of design of a
simple robotic cleaners control design using gadgets and
instruments. This robot (CLEANER) is specially made on the
basis of modern technology. CLEANER has all the features
which are required for a floor cleaner. It can work automatically
and manually. It has the feature auto drain itself. CLEANER has
many competitors who are selling same product in high prices.
This is first locally manufactured smart floor cleaner with all
features up to the standards of IEEE. Its scheduling feature
which can be operated with computer only, android and windows
app. The target audience with all the features is middle and upper
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REFERENCE
1. ieeexplore.ieee.org/document/6843432/
2. https://spectrum.ieee.org/.../robotics/home-robots/robot-floor s-
that-empty-themselves
3. www.standardsuniversity.org/wp-content/.../Smart-Floor-
Cleaning-Robot-CLEAR.pdf
4. https://en.wikipedia.org/wiki/Domestic_robot
5. Irobot.com, 'iRobot Corporation: We Are The Robot
Company', 2015. [Online]. Available: http://www.irobot.com/.
6. Neato, 'Neato Robotics | Smartest, Most Powerful, Best
Robot Floor ', 2015. [Online]. Available:
http://www.neatorobotics.com/.
7. Dyson.com, 'Latest Dyson Floor Cleaner Technology |
Dyson.com', 2015. [Online]. Available:
http://www.dyson.com/floor -cleaners.aspx.
8. Dyson 360 Eyeâ„¢ robot, 'Dyson 360 Eyeâ„¢ robot', 2015.
[Online]. Available: https://www.dyson360eye.com/.
9. Buck, 'The Best Robot Floor s of 2015 | Top Ten
Reviews', TopTenREVIEWS, 2014. [Online]. Available:
http://robot-floor - review.toptenreviews.com
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