International Journal of ChemTech Research

CODEN (USA): IJCRGG, ISSN: 0974-4290, ISSN(Online):2455-9555

Vol.11 No.04, pp 55-62, 2018

Bluetooth Based Automatic Floor Cleaning System

C.R.Balamurugan*, P.Kirubha, S.ArunKanna, E.R.Hariprasath, C.Anupriya

Department of EEE/Karpagam College of Engineering/Coimbatore, India

Abstract : It’s a wireless Bluetooth control floor cleaning machine and will be amazed at the
simplicity and effectiveness of the idea. It’s basically DC motors wired in a wheeled plastic
container with a cleaning solution placed on top and a scrub attached in the bottom through
one of the motors. The brush cleans the floor and dried with aid of CPU fan. Anybody can
operate this machine easily. Hence it is very useful in hospitals, houses, etc. Bluetooth module
is used for controlling the entire system with help of remote or mobile. There is an application
in mobile for Bluetooth connection between the system and mobile. By using Bluetooth
module we can direct and turn the system as the user needs. It works great and controlled
manually based on the user convenience. Definitely makes cleaning easier and merrier while
enabling anyone to build something rather than buy. In modern days interior decorations are
becoming an important role in our life. Cleaning of floor is a very important one for our health
and reduces the man power requirement. Hence our project is very useful in our day to day
life.
Keywords : Automatic; floor cleaning machine; bluetooth; prototype

1. Introduction
This paper deals with the designing and fabrication of Floor cleaning Machine. The aim of this work is
to develop and modernized process for cleaning the floor with wet and dry. It is very useful for cleaning the
floors. It can be used wet and dry. Floor cleaning system is very much useful in cleaning floors in hospitals,
houses, auditorium, shops, computer centers etc; it is very simple in construction and easy to operate. Anybody
can operate this machine easily. It consist of moisture cotton brush, the brush cleans the floor and dried with aid
of small blower. Hence it is very useful in hospitals, houses, etc. The time taken for cleaning is very less and the
cost is also very less. Maintenance cost is less. Much type of machines is widely used for this purpose. But they
are working under different principles and the cost is also very high. In this paper a very simple drive
mechanism and easy to operate any persons. The size of the machine is also portable, so we can transfer from
one place to other place very easily. The floor cleaning machine is simple, modern house holding device; even
children can also operate it easily with safety. It is very important one for each and every houses and hospitals
etc.

2. Concept Description

With just materials you can readily find at home, here’s a very creative and smart build that can take
over the chore related to floor cleaning. It’s a wireless floor cleaning machine controlled by bluetooth and

C.R.Balamurugan et al /International Journal of ChemTech Research, 2018,11(04): 55-62.

DOI : http://dx.doi.org/10.20902/IJCTR.2018.110406
C.R.Balamurugan et al /International Journal of ChemTech Research, 2018,11(04): 55-62. 56

you’ll be amazed at the simplicity and effectiveness of the idea. It’s basically DC motors wired in a wheeled
plastic container with a cleaning solution placed on top and a scrub attached in the bottom through one of the
motors. It works great and seeing the mechanism is like seeing a robot assistant on duty. Definitely makes
cleaning easier and merrier while enabling anyone to build something rather than buy.

Wireless and radio technologies have been at the heart of many disruptive businesses and activities. The
people of today want hassle free and compact products, which can be used at any time or at any place. Wireless
is the possible solution to meeting the needs or wants of the society. This project will discuss the emerging
wireless technology such as Bluetooth. This project gives an in depth look on how the different technologies are
being used today. By doing this, project will discuss how Bluetooth technology works, its origin, context, and
implementation.

3. Block Diagram

The cleaning liquid is mixed in proper proportion and it is poured into the reservoir through the top
way. The cleaning liquid is poured until the tanks are filled. Actuating the lever opens the valve. Cleaning liquid
from the tank spills on the ground. After the required amount is delivered, the lever is released and the machine
is switched ON. The brush gets drive from motor through pulleys and belts. The brush applies pressure on the
floor, when the adjuster rod is unscrewed and the handle is moved in the required direction to clean the
sufficient area. Again the lever is operated to supply cleaning liquid whenever required. This process is
repeated, so floor is cleaned well. The cotton brush prevents the damages on the mosaic, marble floors and
gives smooth surface finish and shining. This project is fully unified for cleaning applications. It features the
requirements needed for floor cleaning such as water supply, scrub, and fan. It is a wheeled type machine with a
movement control. This floor cleaning machine is comprised of several DC motors that drives the wheels and
rotating objects for the scrub. Wiring of the motors are properly designed that the wheels are set up considering
the control is from two dual two way switches. A pushbutton is also set as ON/OFF switch of the rotating
objects as scrubs. Plastic pipes are also designed in which it has holes and gat valve that manages the release of
cleaning liquid on the floor. It has two CPU fan after the scrubs used for drying of the scrubbed floor area. The
machine is wired using LAN wires connected to its controller while the controller has the connection of the 12V
supply.

Fig. 1. Block diagram of proposed model

This paper is applicable for several floor cleaning activities. Considering the area and access of the
floor to be cleaned, this floor cleaning machine is able to handle a load of cleaning activity.
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Fig. 2. Hardware Prototype

a) DC gear motor

In this work, gear DC motor is used. A DC motor is not the same as a "gear motor" - a "gear motor"
may be an AC or DC motor coupled with a gearbox or transmission. A gear motor adds mechanical gears to
alter the speed/torque of the motor for an application. Usually such an addition is to reduce speed and increase
torque. Geared DC motors can be defined as an extension of DC motor. A geared DC Motor has a gear
assembly attached to the motor. The speed of motor is counted in terms of rotations of the shaft per minute and
is termed as RPM .The gear assembly helps in increasing the torque and reducing the speed. Using the correct
combination of gears in a gear motor, its speed can be reduced to any desirable figure. This concept where gears
reduce the speed of the vehicle but increase its torque is known as gear reduction. This Insight will explore all
the minor and major details that make the gear head and hence the working of geared DC motor.

b) External Structure

Gear motors are an all-in-one combination of an electric motor and gears or a gearbox. A gear motor
simplifies combining a motor with a gear reducer system. Gears are used with motors to lower the motor's
speed while increasing the output torque. A simple electric motor can be built using a coil of wire that is free to
rotate between two opposite magnetic poles. When an electric current flows through the coil, the coil
experiences a force and moves. At the first sight, the external structure of a DC geared motor looks as a straight
expansion over the simple DC ones. The lateral view of the motor shows the outer protrudes of the gear head. A
nut is placed near the shaft which helps in mounting the motor to the other parts of the assembly.

Fig. 3. Side View of Gear Motor

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Fig. 4. Rear View of Gear Motor

Also, an internally threaded hole is there on the shaft to allow attachments or extensions such as wheel
to be attached to the motor.

4. Bluetooth Module

Bluetooth wireless technology is a 2.4GHz ISM-band open industry standard for short range wireless
communication, which is capable of voice and data transfer (up to 723 kbps data transfer in ACL link or up to 3
simultaneous voice connections in SCO links in a piconet).In this document, the SEMCO-Bluetooth Modules
are presented, which consists of RF, baseband and link manager protocol together with Host Controller
Interface(HCI) / HCI-UART functionality implemented according to the Bluetooth specification version
1.1.SEMCO-Bluetoth Modules are designed for use as an universal Bluetooth module compliant for the
Bluetooth specification version 1.1, which can be applied to hand-held phones, PDAs, headsets, PCs and PC-
peripherals, et cetera for wireless voice and data communication. Most of us have experienced trying to figure
out what cable goes where, and ended up tangled in the details. Bluetooth essentially aims to fix this problem.
This is considered a cable-replacement technology.

a) Short Range Wireless

There are many short-range digital communications among computing and communications devices;
today much of that communication takes place over cables. These cables connect to multitude of devices using
a wide variety of connectors with many combinations of shapes, sizes and number of pins; this plethora of
cables can become quite burdensome to user. With Bluetooth technology, this technology can communicate
without wires over a single air interface, using radio waves to transmit and receive data. Bluetooth wireless
technology is specifically designed for short-range communications; one result of this very low power
consumption, making the technology well suited for use with small, portable personal devices that typically are
powered by batteries.

b) Voice and Data

Voice appliances such as mobile telephones are also used for data applications such as information
access or browsing. Trough voice recognition, computers can be controlled by voice, and through voice
synthesis, computers can produce audio output in addition to visual output. Some wireless communication
technologies are designed to carry only voice while others handle only data traffic. Bluetooth wireless
communication makes provisions for both voice and data, and thus it is an ideal technology for unifying these
worlds by enabling all sorts of devices to communicate using either or both of these content types Bluetooth is
split into two sections: Bluetooth Specification and Bluetooth Profile. The Specification describes how the
technology works (i.e. the Bluetooth protocol architecture). The Profiles describe how the technology is used
(i.e. how different parts of the specification can be used to fulfill a desired function for a Bluetooth device).

c) Technical Features

Bluetooth operates in the unlicensed 2.4 GHz Industrial Scientific Medical (ISM) frequency band as
shown in Figure 4 below. It uses 79 channels between 2.402 GHz to 2.480 GHz. It uses power of 1mW to
C.R.Balamurugan et al /International Journal of ChemTech Research, 2018,11(04): 55-62. 59

100mW. The nominal range is 10 meters, but can be extended to more than 100 meters by increasing the
transmission power to 100mW. The gross data rate is 1Mbps. Bluetooth uses a combination of packet and
circuit switching technologies for transmission.

Fig. 5. ISM Band

While developing the specification, high emphasis was placed on developing a design that would enable single
chip CMOS implementations, thereby reducing cost, power consumption, and the chip size required for
implementation in mobile devices. A single chip CMOS is already available from multiple manufacturers. This
device contains the RF radio, baseband controller and microprocessor on a single CMOS integrated circuit.

Fig. 6. Single Chip CMOS

d) Access Technology

Since Bluetooth operates in the unlicensed ISM band that is also used by other devices such as 802.11
networks, baby monitors, garage door openers, microwave ovens etc, there is possibility of interference
(Helsinki University of Technology, 2000). To avoid interference, Bluetooth uses an access technology called
Frequency Hop Spread Spectrum (FHSS). The band where Bluetooth operates is divided into 79 channels of 1
MHz each. Each channel is divided into time slots consisting of 625 μsec in length. After a packet is sent on one
frequency, both the devices retune their radios to a different frequency, effectively hopping at a rate of 1600
hops per second through different time slots. In this way, Bluetooth devices use the entire ISM band and if a
transmission is compromised by interference on one channel, the retransmission will always be on a different
(hopefully clear) channel. Bluetooth Network consists of a Personal Area Network or a piconet which contains
a minimum of 2 to maximum of 8 bluetooth peer devices- Usually a single master and upto 7 slaves. A master
is the device which initiates communication with other devices. The master device governs the communications
link and traffic between itself and the slave devices associated with it. A slave device is the device that responds
to the master device. Slave devices are required to synchronize their transmit/receive timing with that of the
masters. In addition, transmissions by slave devices are governed by the master device (i.e., the master device
dictates when a slave device may transmit). Specifically, a slave may only begin its transmissions in a time slot
immediately following the time slot in which it was addressed by the master, or in a time slot explicitly reserved
for use by the slave device. The frequency hopping sequence is defined by the Bluetooth device address
(BD_ADDR) of the master device. The master device first sends a radio signal asking for response from the
particular slave devices within the range of addresses. The slaves respond and synchronize their hop frequency
as well as clock with that of the master device. Scatter nets are created when a device becomes an active
member of more than one piconet. Essentially, the adjoining device shares its time slots among the different
piconets.

5. Arduino Uno

The Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital input/output
pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal oscillator, a USB connection,
C.R.Balamurugan et al /International Journal of ChemTech Research, 2018,11(04): 55-62. 60

a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller;
simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial driver chip. Instead, it
features the Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-serial converter. Revision 2
of the Uno board has a resistor pulling the 8U2 HWB line to ground, making it easier to put into DFU mode.

Revision 3 of the board has the following new features:

 pinout: added SDA and SCL pins that are near to the AREF pin and two other new pins placed near to the
RESET pin, the IOREF that allow the shields to adapt to the voltage provided from the board. In future,
shields will be compatible both with the board that use the AVR, which operate with 5V and with the
Arduino Due that operate with 3.3V. The second one is a not connected pin, that is reserved for future
purposes.

• Stronger RESET circuit.

• Atmega 16U2 replace the 8U2.

"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0. The Uno and
version 1.0 will be the reference versions of Arduino, moving forward. The Uno is the latest in a series of USB
Arduino boards, and the reference model for the Arduino platform; for a comparison with previous versions, see
the index of Arduino boards. Microcontroller ATmega328 Operating Voltage 5V Input Voltage (recommended)
7-12V Input Voltage (limits) 6-20V Digital I/O Pins 14 (of which 6 provide PWM output) Analog Input Pins 6
DC Current per I/O Pin 40 mA DC Current for 3.3V Pin 50 mA Flash Memory 32 KB (ATmega328) of which
0.5 KB used by bootloader SRAM 2 KB (ATmega328) EEPROM 1 KB (ATmega328) Clock Speed 16 MHz.

Fig. 7. Arduino Uno Board

a) Power Supply

The Arduino Uno can be powered via the USB connection or with an external power supply. The power
source is selected automatically. External (non-USB) power can come either from an AC-to-DC adapter (wall-
wart) or battery. The adapter can be connected by plugging a 2.1mm center-positive plug into the board's power
jack. Leads from a battery can be inserted in the Gnd and Vin pin headers of the POWER connector. The board
can operate on an external supply of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may
supply less than five volts and the board may be unstable. If using more than 12V, the voltage regulator may
overheat and damage the board. The recommended range is 7 to 12 volts.

The power pins are as follows:

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• VIN. The input voltage to the Arduino board when it's using an external power source (as opposed to 5 volts
from the USB connection or other regulated power source). You can supply voltage through this pin, or, if
supplying voltage via the power jack, access it through this pin.
• 5V. The regulated power supply used to power the microcontroller and other components on the board. This
can come either from VIN via an on-board regulator, or be supplied by USB or another regulated 5V supply.
• 3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50 mA.
• GND. Ground pins.

b) Input and Output

Each of the 14 digital pins on the Uno can be used as an input or output, using pin Mode(), digital
Write(), and digital Read() functions. They operate at 5 volts. Each pin can provide or receive a maximum of 40
mA and has an internal pull-up resistor (disconnected by default) of 20-50 k Ohms. In addition, some pins have
specialized functions:

• Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are connected
to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip.

External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low value, a rising
or falling edge, or a change in value. See the attach Interrupt() function for details.

• PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog Write() function.
• SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication using the SPI library.
• LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the LED is on,
when the pin is LOW, it's off.

The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits of resolution (i.e.
1024 different values). By default they measure from ground to 5 volts, though is it possible to change the upper
end of their range using the AREF pin and the analog Reference() function. Additionally, some pins have
specialized functionality: TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the
Wire library. There are a couple of other pins on the board:

• AREF: Reference voltage for the analog inputs. Used with analog Reference().
• Reset: Bring this line LOW to reset the microcontroller. Typically used to add a reset button to shields which
block the one on the board.

See also the mapping between Arduino pins and ATmega328 ports. The mapping for the Atmega8, 168,
and 328 is identical.

c) Communication

The Arduino Uno has a number of facilities for communicating with a computer, another Arduino, or
other microcontrollers. The ATmega328 provides UART TTL (5V) serial communication, which is available on
digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels this serial communication over USB
and appears as a virtual com port to software on the computer. The '16U2 firmware uses the standard USB
COM drivers, and no external driver is needed. However, on Windows, a .inf file is required. The Arduino
software includes a serial monitor which allows simple textual data to be sent to and from the Arduino board.
The RX and TX LEDs on the board will flash when data is being transmitted via the USB-to-serial chip and
USB connection to the computer (but not for serial communication on pins 0 and 1). A Software Serial library
allows for serial communication on any of the Uno's digital pins. The UNO also supports I 2C (TWI) and SPI
communication. The Arduino software includes a Wire library to simplify use of the I 2C bus; see the
documentation for details. For SPI communication, use the SPI library.

6. Software For Interfacing Arduino And Bluetooth

char data = 0; //Variable for storing received data

void setup()
{ Serial.begin(9600); //Sets the data rate in bits per second (baud) for serial data transmission
pinMode(13, OUTPUT); //Sets digital pin 13 as output pin }
void loop()
C.R.Balamurugan et al /International Journal of ChemTech Research, 2018,11(04): 55-62. 62

{ if(Serial.available() > 0) // Send data only when you receive data:

{ data = Serial.read(); //Read the incoming data and store it into variable data
Serial.print(data); //Print Value inside data in Serial monitor
Serial.print("\n"); //New line
if(data == '1') //Checks whether value of data is equal to 1
digitalWrite(13, HIGH); //If value is 1 then LED turns ON
else if(data == '0') //Checks whether value of data is equal to 0
digitalWrite(13, LOW); //If value is 0 then LED turns OFF }}

7. Conclusion
The product thus developed is fully operational and gives desired motion. It is being tested in a room
which results in successful outcome. Manually operated floor cleaning machine is an alternative for an
automated floor cleaning machines during power crisis. Body is machine operated to achieve dry and wet
Manual effort and time is reduced less as cleaning and polishing can be done at same time. Design is very
simple and easy fabrication. Overall the concept is very much helpful and there is scope of a lot of development
in mechanical parts. The optimization will continue till achieving the best one. Overall the project is successful
to its intent and will definitely change the era robotics and floor cleaning. In the automation part the algorithm
are designed to give 90% efficiency which is too high in current scenario. The development can be made in the
field of sensing.

8. Future Scope

The scrubber design should be modified in future because the current design has few problems. Few of
those are the motor is not detachable and the high rpm leads to vibration of the whole system. If these features
will be modified, this will work well. The development can be made in the field of sensing and to detect as well
as move in the direction of dust and thus resulting in better cleaning of floors. Monitoring, self-charging, lighter
body weight and to set alarm on/off time manually are the future scope of this paper.

References
1. www.eeweb.com/project/floor-cleaning-machine-remote-controlled
2. www.standardsuniversity Clear
3. Mahoney.R, Service Robotics.org/wp-content/.../Smart-Floor-Cleaning-Robot-
4. Case Studies in Silicon Valley Silicon Valley Robotics Technical Report, 2015
5. Jagdeesh Chandra A.P, Venugopal C.R, Novel Design solutions for remote access acquire and control
of Laboratory experiments on DC machines, IEEE transaction on instrumentation and measurement,
61, 2, 2012.
6. https://www.youtube.com/watch?v=UAVKLUAV7-E
7. Liu, Kuotsan1, Wang, Chulun, A Technical Analysis of Autonomous Floor Cleaning Robots Based on
US Granted Patents, European International Journal of Science and Technology, 2, 7; 2013.
https://www.researchgate.net/publication/299372806_Floor_Cleaning_Robot_with_Mobile-
App_or_Autonomous

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