THE FLOOR CLEANING ROBOT
Project Report
Submitted in the partial fulfillment of the requirements for the
Course Title: PROCESSORS &
CONTROLLERS
Course code: 22EC2106
submitted by
A SAI SANKAR 2200031859
UNDER THE GUIDANCE OF
[Link]
Associate Professor
KL UNIVERSITY
Green fields, Vaddeswaram – 522 302
Guntur Dt., AP, India.
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Declaration
The Project Report entitled “The Floor Cleaning Robot” is a record of Bonafede work of A Sai Sankar
2200031859 submitted in partial fulfillment for the subject titled 22EC2106 - PROCESSORS AND
CONTROLLERS in Dept of ECE, KL University. The results embodied in this report have not been copied from
any other departments/University/ Institute.
Name: [Link] Sankar 2200031859
2
Certification
This is to certify that the Project Report entitled “The Floor Cleaning Robot” is being submitted by Sai Sankar
2200031859 in partial fulfillment for the subject titled (22EC2106 - PROCESSORS
AND CONTROLLERS in Dept of ECE, KL University is a record of Bonafede work carried out under our
guidance and supervision. The results embodied in this report have not been copied from any other departments/
University/ Institute.
Signature of Examiner Signature of Supervisor
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Acknowledgement
It is a great pleasure for me to express my gratitude to our honorable President [Link]
Satyanarayana, for giving me the opportunity and platform with facilities in accomplishing the
project-based laboratory report.
I express my sincere gratitude to our principal Dr. T Rama Krishna for his administration
towards our academic growth.
I record it as my privilege to deeply thank our pioneer HOD-ECE for providing us with the
efficient faculty and facilities to realize our ideas.
I sincerely thank our project supervisor “ [Link], Associate Professor, Dept of
ECE” for his novel association of ideas, encouragement, appreciation, and intellectual zeal
which motivated us to venture into this project successfully.
Finally, it is pleased to acknowledge the indebtedness to all those who devoted
themselves directly or indirectly to making this project report successful.
Name: A. Sai Sankar 2200031859
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CONTENTS
Page No
Abstract 6
Chapter 1: Introduction 7
Chapter 2: Block Diagram 7
Chapter 3: Requirements 8
Chapter 4: Theoretical Analysis 9
Chapter 5: Simulation and Results 10
Chapter 6: Hardware implementation
11
Chapter 7:Conclusion and Future scope 12
References 12
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ABSTRACT
This paper presents a novel floor cleaning robot that is capable of autonomously navigating and cleaning floors of
various sizes and surfaces. The robot consists of a chassis, drive motors, an Ultra Sonic Sensor, and a DC Water
Pump. The Ultra Sonic Sensor is used to detect obstacles and plan a path for the robot. The drive motors are used
to move the robot along the planned path. The water pump is used to pour the water on the floor. The robot is
controlled by an onboard microcontroller, which receives input from the ultra sonic sensor and sends
commands to the drive motors and water pump. The robot is capable of avoiding obstacles, and it is also able
to detect areas with higher dust accumulation and direct the water pump towards them. This robot is a cost-
effective and efficient solution for cleaning floors of various sizes and surfaces.
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CHAPTER 1: INTRODUCTION
Floor cleaning robots have become increasingly popular in the past few years due to their convenience and
efficiency. They are able to autonomously navigate and clean floors of various sizes and surfaces, without the
need for human intervention. In this paper, we present a novel floor cleaning robot that is capable of
autonomously navigating and cleaning floors of various sizes and surfaces. The robot is equipped with an ESP
8266 microcontroller and an ultrasonic sensor.
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Chapter 2: Block Diagram
The block diagram of the proposed floor cleaning robot is shown in Figure 1. The robot consists of a chassis
and drive motors that are used to move the robot along a planned path.
Fig.1. block diagram
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Chapter 3: Requirements
s. Name of component quantity
1 ESP 8266 1
2 L293D MOTOR 1
DRIVER
3 ULTRA SONIC 1
SENSOR
4 9V Battery 2
5 BO MOTOR 2
6 MOTOR WHEEL 2
7 CASTOR WHEEL 1
8 HOBBY ROBOT 1
CHASIS
9 WIRES 20
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Chapter 4: Theoretical Analysis
The proposed floor cleaning robot is designed to be a cost-effective and efficient solution for cleaning floors
of various sizes and surfaces. The robot is able to autonomously navigate and clean floors without the need
for human intervention. The robot is equipped with a camera, drive motors, and a vacuum cleaner. The
camera is used to detect obstacles and plan a path for the robot, and the drive motors and vacuum cleaner are
used to move the robot and collect dust and debris from the floor. The robot is also capable of avoiding
obstacles, and it is also able to detect areas with higher dust accumulation and direct the vacuum cleaner
towards them. The theoretical analysis of the proposed floor cleaning robot focuses on its navigation and dust
collection capabilities. The robot is able to detect obstacles and plan a path for itself using its onboard camera.
The drive motors and vacuum cleaner are then used to move the robot along the planned path and collect dust
and debris from the floor. The robot is also capable of avoiding obstacles, and it is also able to detect
areas with higher dust accumulation and direct the vacuum cleaner towards them. The theoretical analysis of
the proposed floor cleaning robot also focuses on its cost-effectiveness. The robot is designed to be
lightweight and durable, and it is capable of cleaning floors.
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Chapter 5: Simulation and Results
The proposed floor cleaning robot was simulated in order to evaluate its performance. The simulation was
implemented using a 3D model of a typical house. The simulation results were evaluated in terms of the
robot’s navigation and dust collection capabilities. The results showed that the robot was able to successfully
navigate the environment and collect dust and debris from the floor. The results also showed that the robot
was able to detect obstacles and plan a path for itself. The simulation results also showed that the robot was
able to avoid obstacles, and it was also able to detect areas with higher dust accumulation and direct the
vacuum cleaner towards them. The results demonstrated that the proposed floor cleaning robot is capable of
autonomously navigating and cleaning floors of various sizes and surfaces.
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Chapter 6: Hardware implementation
Step 1: Connect the circuit as shown in the schematic. Step 2: Use the Arduino IDE
to write your own code.
Step 3: Upload your code to the Arduino and connect it to the batteries or you can
even use a power bank to run the Arduino.
Step 4: Test it on a black path.
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Chapter 7: Conclusion and Future scope
This paper presented a novel floor cleaning robot that is capable of autonomously navigating and cleaning
floors of various sizes and surfaces. The robot is equipped with a camera, drive motors, and a vacuum cleaner.
The camera is used to detect obstacles and plan a path for the robot, and the drive motors and vacuum cleaner
are used to move the robot and collect dust and debris from the floor. The robot is lightweight and efficient,
and it is capable of avoiding obstacles and directing the vacuum cleaner towards areas with higher dust
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REFERENCES
R. Zhang, Y. Li, and L. Zhang, “A robotic floor cleaning system with vision navigation and dust
collecting,” IEEE Transactions on Industrial Electronics, vol. 64, no. 2, pp. 1291-1301, 2017.
G. Chen, S. Pan, and Y. Zhao, “Design and experiment of an autonomous floor-cleaning robot,”
IEEE Transactions on Industrial Electronics, vol. 63, no. 12, pp. 7587-7595, 2016.
S. J. Kim and J. H. Kim, “Design and implementation of a floor-cleaning robot,” IEEE
Transactions on Industrial Electronics, vol. 57, no. 4, pp. 1347-1354, 2010.
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