Robot Vacuum Cleaner

Vinita Shivaji Madiwal

Goutami Hemant Latukar
Akanksha Shrikant Pawar
Netra Mallari Kangralkar
Dept. of Robotics &Artifical Intellegence, MMEC Belgavi,Karnataka,India

Abstract. Although a robot vacuum cleaner is a well--known product,

development is still interesting. Better working sensors and more sophisticated
algorithms and sensors are used new cleaner .The purpose with this thesis was
to learn more about different sensors, algorithms and designs of robot vacuum
cleaner, to try ideas and to find improvement to implement on the demonstrator
.The initial work was to make a market investigation to find costumer needs and
expectations. Also making a rough design and layout for the mechanical and
electrical system the budget for the demonstrator was 1000 SEK. Using laser cut
plastic shields 3D printed parts, and receiving motors for free, cost did not
exceed budget
Keywords: Arduino, DC motors, Stepper motors, Ultrasonic-sensor, Robot
vacuum cleaner.

1. Introduction

For many people, returning home after a stressful day at work to a

relaxing evening can be a major relief. However, the realization that
they have chores to do, such as cleaning, can be daunting. Cleaning is a
necessary requirement for personal hygiene, especially for those with
dust allergies and illnesses like asthma. Busy schedules or fatigue can
make it difficult for people to carry out cleaning tasks daily.
Having a robotic little friend that can automatically detect dust and
clean the floor with the press of a button can provide a big convenience.
Robotic vacuum cleaners are able to clean places that regular vacuums
can't reach, such as under furniture and in corners that are blocked off
to traditional vacuums. They are dust bunny eradicators.
These gadgets are particularly useful for busy individuals who desire a
clean home even when they don't have the time to do the work
themselves. Additionally, watching these robots at work can be
enjoyable.
The use of robotics in everyday life has been growing rapidly in recent
years, and one area where this technology is becoming increasingly
popular is in the realm of cleaning. Robotic vacuum cleaners have been
on the market for several years, but advances in sensor technology and
microcontrollers are enabling the development of increasingly
sophisticated and capable devices.
This project aims to develop a robotic vacuum cleaner that uses three
ultrasonic sensors and an Arduino Uno microcontroller to navigate
around obstacles and walls in a room while efficiently cleaning the
floor. The ultrasonic sensors provide accurate distance measurements,
allowing the vacuum cleaner to detect and avoid obstacles and walls.
The Arduino Uno serves as the brain of the robotic vacuum cleaner,
processing the sensor data and sending signals to the motor to change
direction as needed.
The goal of this project is to create a functional and effective robotic
vacuum cleaner that can demonstrate the potential of using advanced
technologies to solve everyday problems. By exploring the capabilities
of ultrasonic sensors and microcontrollers, we hope to create a device
that can make cleaning tasks easier and more efficient for individuals
and families.

2. Methodology

The methodology for developing a floor cleaning robot using Arduino

Uno involves the following steps: Requirements: The requirements and
objectives of the floor cleaning robot. Factors such as the cleaning area,
cleaning mechanism (brushes or mops), obstacle detection capabilities,
autonomy level, and any specific features or functionalities desired.
Research and Planning: Conducted a literature survey to projects. Study
different designs, algorithms, and approaches. Plan the system
architecture, hardware components, and software requirements based on
the research findings. Hardware Assembly: Assemble the necessary
hardware components for the robot. This typically includes an Arduino
Uno board, DC motors for movement, cleaning mechanism (brushes or
mops), power supply, and any additional sensors required for obstacle
detection or navigation. Follow the manufacturer's guidelines and
wiring diagrams for proper connections. Sensor Integration: Integrate
sensors such as ultrasonic or infrared navigation. Connect Arduino Uno
board, ensuring the appropriate wiring and connections. Write the
necessary code to read sensor data and interpret it for obstacle detection
and avoidance. Programming: Develop the code to control the robot's
behavior, including motor control, sensor readings, obstacle detection,
and cleaning mechanism activation. Implement algorithms for
autonomous navigation, obstacle avoidance, and cleaning patterns as
per the defined requirements. Testing and Debugging: Test the
functionality of the floor cleaning robot. Conduct thorough testing to
verify the performance of the navigation algorithms, obstacle detection,
cleaning mechanism, and overall system behavior. Debug any issues or
errors encountered during the testing phase and make necessary
adjustments to the code or hardware. Performance Evaluation: Evaluate
the performance of the floor cleaning robot by measuring parameters
such as cleaning efficiency, coverage area, obstacle avoidance, battery
life, and user-friendliness. Compare the results against the defined
requirements and make necessary improvements or optimizations.

2.1 System architecture

Microcontroller (Arduino Uno): This acts as the brain of the robot,
controlling all operations, including motor movement and sensor data
processing.Motor Driver (L298N): Since the Arduino cannot directly
drive the motors due to current limitations, a motor driver like the
L298N is used. It receives signals from the Arduino and controls the
power supplied to the motors.Motors and Wheels: Four DC motors are
used, each connected to a wheel, providing differential drive
capabilities. By varying the speed and direction of each motor, the robot
can move forward, backward, and turn.Power Supply: A rechargeable
battery pack powers the entire system, providing necessary voltage and
current to the Arduino, motor driver, and motors.Sensors: For obstacle
detection and navigation, the robot can be equipped with infrared (IR)
or ultrasonic sensors. These sensors send distance data to the Arduino,
enabling it to avoid obstacles and navigate the cleaning area.The
Arduino runs a program that processes sensor data, makes decisions
based on this data (e.g., avoiding obstacles), and sends appropriate
signals to the motor driver to control the robot's movement, ensuring
efficient cleaning coverage

2.2 Block diagram

A block diagram of a robot vacuum cleaner provides a high-level

overview of its functional components and how they interact to achieve
autonomous cleaning. Here's a general description:
1. Power Supply: This block represents the battery system that
powers the entire robot. It usually includes a rechargeable
battery and a charging circuit, which allows the robot to dock
and recharge autonomously.
2. Microcontroller/Processor: The microcontroller acts as the brain
of the robot. It processes inputs from various sensors and
executes the algorithms that control the robot’s movement,
navigation, and cleaning patterns.
3. Sensors: The robot vacuum cleaner is equipped with several
sensors:
o Bump Sensors: Detect obstacles by sensing physical
contact, prompting the robot to change direction.
o Proximity/IR Sensors: Help in detecting nearby objects
without physical contact, preventing collisions.
o Cliff/Drop Sensors: Detect stairs or other drops to
prevent the robot from falling.
o Dirt Detection Sensors: Identify areas with a higher
concentration of dirt, triggering more thorough cleaning
in those spots.
o Gyroscope/Accelerometer: Assist in understanding the
robot's orientation and movement, aiding in navigation.
o Camera/LiDAR: Used in advanced models for mapping
and localization.
4. Motors and Actuators: This block includes the drive motors that
control the wheels for movement and the brush motor for
cleaning. Some models also have a side brush motor for edge
cleaning.
5. Navigation and Mapping System: In advanced models, this
system uses inputs from sensors (like LiDAR or cameras) to
create a map of the environment, enabling the robot to plan
efficient cleaning paths.
6. User Interface: This block covers the buttons on the robot,
remote controls, or mobile apps used by the user to control the
robot, set cleaning schedules, or check status.
 7. Communication Module: Some models include Wi-Fi or
Bluetooth modules for remote operation and integration with
smart home systems.
This block diagram illustrates how the robot vacuum cleaner integrates
multiple systems to perform autonomous cleaning effectively.

3.Result and discussion

In this we created a self-cleaning bot with Arduino-Uno which can
partially do water cleaning and also a manual vacuum cleaner with two
separate batteries one for all the control for bot and one separate for
vacuum cleaner bot. The floor cleaning robot's performance was
evaluated based on defined metrics such as cleaning efficiency,
coverage area, obstacle avoidance, and battery life. The robot
demonstrated satisfactory performance in autonomously navigating the
cleaning area, effectively avoiding obstacles, and performing the
cleaning operation.

4.Conclusion
In conclusion, the development of a floor cleaning robot using
Arduino Uno offers a promising solution for automated and efficient
floor cleaning tasks. Through the implementation of various
components, such as DC motors, cleaning mechanisms, obstacle
detection sensors, and navigation algorithms, the floor cleaning robot
can effectively navigate the cleaning area, detect and avoid obstacles,
and perform the cleaning operation. Furthermore, the project identified
future scope areas for potential enhancements, including wireless
connectivity, advanced mapping and navigation techniques, smart
sensors, machine learning, auto charging and docking, improved
cleaning mechanisms, and energy efficiency. In conclusion, the floor
cleaning robot developed using Arduino Uno showcases the feasibility
and potential of automated floor cleaning systems. The project serves as
a foundation for further research and development in the field of robotic
floor cleaning, with the aim of achieving more intelligent, efficient, and
user-friendly solutions for maintaining cleanliness and hygiene in
various environments.

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Under the guidance of

-prof. Arati. B. S