CleanSweep (couldn't think of better name :P) is a smartphone controlled robot that cleans your house's floor! The rotating mops on the front of the robot along with a foam roller (used to paint walls, not here) at the back can do the job perfectly. There's also a water pump and water reservoir which can be switched on when required to throw water on the floor and make the mops moist for a proper clean. The foam roller is movable, which means you can lift it when not in use. I've also added speed controls for the driver motors.
The project uses bluetooth communication via an HC-05 bluetooth module to send the commands to the most commonly used microcontroller- Arduino UNO. The robot is powered on a 12V lead acid battery, the ideal voltage for all motors used here.. The driver motor pair are 100rpm ones while for the mops I've used 75rpm plastic ones.
Floor cleaning robot project report pdf
The older of the two designs, direct-fan cleaners have a large impeller (fan) mounted close to the suction opening, through which the dirt passes directly, before being blown into a bag. The motor is often cooled by a separate cooling fan. Because of their large-bladed fans, and comparatively short airpaths, direct-fan cleaners create a very efficient airflow from a low amount of power, and make effective carpet cleaners. Their "above-floor" cleaning power is less efficient, since the airflow is lost when it passes through a long hose, and the fan has been optimized for airflow volume and not suction.
Fan-bypass uprights have their motor mounted after the filter bag. Dust is removed from the airstream by the bag, and usually a filter, before it passes through the fan. The fans are smaller, and are usually a combination of several moving and stationary turbines working in sequence to boost power. The motor is cooled by the airstream passing through it. Fan-bypass vacuums are good for both carpet and above-floor cleaning, since their suction does not significantly diminish over the distance of a hose, as it does in direct-fan cleaners. However, their air-paths are much less efficient, and can require more than twice as much power as direct-fan cleaners to achieve the same results.
In December 2009, Neato Robotics launched the world's first robotic vacuum cleaner which uses a rotating laser-based range-finder (a form of lidar) to scan and map its surrounding. It uses this map to clean the floor methodically, even if it requires the robot to return to its base multiple times to recharge itself. In many cases it will notice when an area of the floor that was previously inaccessible becomes reachable, such as when a dog wakes up from a nap, and return to vacuum that area.[25]
Floor cleaner 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. Good well-maintained entrance matting can dramatically reduce the need for cleaning. For public and office buildings about 80 to 90% of the dirt is tracked in from outside. Installing a total of 15 feet of matting consisting of both indoor and outdoor sections will remove about 80% of this. Thus about two-thirds of the dirt can be removed at the entrance.
The treatment needed for different types of floors is very different. For safety it is most important to ensure the floor is not left even slightly wet after cleaning or mopping up. Sawdust is used on some floors to absorb any liquids that fall rather than trying to prevent them being spilt. The sawdust is swept up and replaced each day. This was common in the past in pubs and is still used in some butchers and fishmongers. It used to be common to use tea leaves to collect dirt from carpets and remove odours. Nowadays it is sill quite common to use diatomaceous earth, or in fact any cat litter type material, to remove infestations from floors. There are also a wide variety of floor cleaning machines available today such as floor buffers, automatic floor scrubbers and sweepers, and carpet extractors that can deep clean almost any type of hard floor or carpeted flooring surface in much less time than it would take using a traditional cleaning method.
The mechanical, electrical, and autonomy aspects of designing a novel, modular, and reconfigurable cleaning robot, dubbed as sTetro (stair Tetro), are presented. The developed robotic platform uses a vertical conveyor mechanism to reconfigure itself and is capable of navigating over flat surfaces as well as staircases, thus significantly extending the automated cleaning capabilities as compared to conventional home cleaning robots. The mechanical design and system architecture are introduced first, followed by a detailed description of system modelling and controller design efforts in sTetro. An autonomy algorithm is also proposed for self-reconfiguration, locomotion, and autonomous navigation of sTetro in the controlled environment, for example, in homes/offices with a flat floor and a straight staircase. A staircase recognition algorithm is presented to distinguish between the surrounding environment and the stairs. The misalignment detection technique of the robot with a front staircase riser is also given, and a feedback from the IMU sensor for misalignment corrective measures is provided. The experiments performed with the sTetro robot demonstrated the efficacy and validity of the developed system models, control, and autonomy approaches.
Due to a faster pace of life in most of the developed world, floor cleaning is often seen as a dull, dirty, laborious, time-consuming, and tedious job (Figure 1(a)) giving rise to the development of robotic products for handling the cleaning task autonomously. Such robotic platforms have given their vast potential by improving productivity in cleaning jobs in domestic and commercial settings and witnessed a steep rise over the last two decades [1]. It is estimated that between 2015 and 2018, about 25.2 million USD robotic cleaning units would be sold worldwide [2].
A number of successful products such as iRoomba, Neato XV-11, Samsung Powerbot, Bobsweep bobi, Miele scout, Moneual RYDIS, and Infinuvo CleanMate exist in the marketplace today [3]. These robots are generally characterized by nonmodular/fixed circular morphology capable of autonomously mapping its environment using on-board sensors and navigating around the defined floor space to clean the smooth surface environment efficiently. The limitation of these conventional robots is that they are applicable on smooth floor-like surfaces only and are unable to clean staircases which are an essential part of most of homes/offices as shown in Figure 1(b).
In Figure 15, the plot of Euclidean norm versus scan index is given. As the robot starts turning at any arbitrary angular position but approaches the angular position at which the reference scan was taken, the Euclidean norm gives the minimum value. This angular position declared that the robot has recognized stairs and is now facing the staircase. After recognizing the stairs, the sTetro starts approaching the staircase to start the cleaning operation.
In this paper, we presented the design and testing of a novel modular reconfigurable cleaning robot, sTetro, that uses vertical conveyor mechanism as a basis. We put forward system models for the estimation of torque for the conveyor motor and centre of gravity analysis towards platform stability. We also describe in detail the design of a PID controller to ensure stable motion of the sTetro robot.
The initialization step, which comprises of staircase recognition during operation, is also tested and shows staircase recognition results are very faithful. Moreover, for smooth autonomous operation, the alignment of the robot with the front riser of the staircase is also detected and results are promising to detect and correct misalignment, if any, using single MEMS IMU. To achieve full autonomy, an algorithm is developed which uses inputs from simple, low-cost, low-power sensors and ensures smooth autonomous staircase cleaning operation, by self-reconfiguration and forward/left/right motion. The integration of contact sensors, ToF sensors, 2D lidar, and an IMU ensures autonomous navigation over a wide range of flat floors and staircases as well, without human intervention. The experiments performed with the real robot demonstrated the efficacy and validity of the developed system models and control approaches.
Cleaning multi-storey buildings need to be considered while developing autonomous service robots. In this paper, we introduce a novel reconfigurable platform called sTetro with the abilitiesto navigate on the floor as well as to detect then climb the staircase autonomously. To this end, an operational framework for this cleaning robot that leverages on customized deep convolution neural network (DCNN) and the RGBD camera to locate staircases in the 3D prebuilt map and then to plan trajectories by maximizing area coverage for both floor and staircase in the multi-storey environments is proposed. While building a 3D map, the staircase location is identified at the 3D point close to the center of the staircase first step using a contour detection algorithm from the boundary of the detected staircase by DCNN. The robot follows the planned trajectory to clear the floor then approaching the staircase location accurately to execute the climbing mode while cleaning the staircase to reach the next floor. The proposed methods archive the high accuracy in identifying the presence of the different staircase types, and the first step locations. Moreover, the multi-storey building evaluations have demonstrated the efficiency of the sTetro in terms of the area coverage both staircase and floor free space. 2ff7e9595c
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