International Journal of Computer Applications (0975 8887)

Volume 97 No.19, July 2014

Design and Development of Floor Cleaner Robot

(Automatic and Manual)
Manreet Kaur

Preeti Abrol

Centre for Development of

Advanced Computing, Mohali

Centre for Development of

Advanced Computing, Mohali

ABSTRACT
Manual work is taken over the robot technology and many of
the related robot appliances are being used extensively also.
Here represents the technology that proposed the working of
robot for Floor cleaning. This floor cleaner robot can work in
any of two modes i.e. Automatic and Manual. All hardware
and software operations are controlled by AT89S52
microcontroller. This robot can perform sweeping and
mopping task. RF modules have been used for wireless
communication between remote (manual mode) and robot and
having range 50m. This robot is incorporated with IR sensor
for obstacle detection and automatic water sprayer pump.
Four motors are used, two for cleaning, one for water pump
and one for wheels. Dual relay circuit used to drive the motors
one for water pump and another for cleaner. In previous work,
there was no automatic water sprayer used and works only in
automatic mode. In the automatic mode robot control all the
operations itself and change the lane in case of hurdle
detection and moves back. In the manual mode, the keypad is
used to perform the expected task and to operate robot. In
manual mode, RF module has been used to transmit and
receive the information between remote and robot and display
the information related to the hurdle detection on LCD. The
whole circuitry is connected with 12V battery.

does not stop and starts cleaning action. It follows zigzag

path. To make whole system wireless, RF modules have been
used in automatic and manual with 50m range. For user
convenience automatic water sprayer is attached which
automatically spray water for mopping, therefore no need to
attach wet cloth again and again for mopping. Motor driver
circuit have been used to drive the motors. Four motors have
been used to perform respected operations like to move the
robot, for water pump, for cleaner. Relays have been used to
drive the water pump and cleaner motor. LM293D IC has
been used to drive wheel motor. All the information displayed
on LCD.
In the manual mode, user itself operates the robot. RF module
have been used to transmit and receive the signal to operate
the robot through remote. In the manual mode, if any hurdle
detected, then signal of hurdle detection displayed on the LCD
of remote via RF module.

VCC
TX
RX

Keywords
LCD, KEYPAD, RF MODULE, IR SENSOR

1. INTRODUCTION
Robot is an electromechanical machine and used for various
purposes in industrial and domestic applications. Robot
appliances are entering in the consumer market, since the
introduction of iRobots. Many related appliances from various
companies have been followed. Initially the main focus was
on having a cleaning device. As the time pass on many
improvements were made and more efficient appliances were
developed.
In early, 2010 a new automatic floor cleaner robot Mint was
developed by Jen Steffen. Detachable clothes were attached
for sweeping and mopping purposes. For tracking mint used
the GPS-like indoor localization system.
In this research work a floor cleaner robot based on AT89S52
have been developed. This cleaner robot is an electric home
appliance, which works in two modes as per the user
convenience Automatic and Manual. Unlike other floor
cleaner robots this is not a vacuum cleaner robot; it performs
sweeping and mopping operation. Detachable mop is used for
mopping. It works on 12V supply. In the automatic mode,
robot performs all operations itself. Firstly robot starts it
moves forward and perform cleaning action. For obstacle
detection and to avoid hurdle IR sensors have been used. If
any hurdle detected then robot change the lane automatically,

AT89S52
10
O
11

GND

RF MODULE

Fig 1: Shows RF and AT89S52 interfacing

Movement of robot is controlled by user itself through
keypads therefore user can move the robot in the desired
direction. All the information displayed on the LCD.

2. RELATED WORKS
In this paper, the mint cleaning robot which is an automatic
cleaning robot that sweeps and mops hardsurface floors
using dusting and mopping clothes was developed. It
investigates the products social impact with respect to the
attitude of the customers towards a systematic floor cleaner
and how such a robot influences their lifestyle. Systematic
cleaning was an important feature, and modifications to the
environment to support the navigation of robot. The robot
employs a systematic cleaning strategy that maps the
environment using a GPS-like indoor localization.[1]
In this paper autonomous and automatic home Mess-Cleanup
robot (Mcbot) is newly developed. So far, the vacuum cleaner

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International Journal of Computer Applications (0975 8887)

Volume 97 No.19, July 2014
had made the burden of house core light and but the
operational labor of a vacuum cleaner had been so severe. In
this paper the RFID tags are used to sense the obstacle and
propose the new disposition algorithm to have RFID tags
installed on the floor and objects indoor. It needs to also have
an intelligent interaction function for the human-friendly
communication. RFID tags are installed to detect the obstacles
which is costly and complex[2].

9V supply. Relay is used because of its efficient switching

characteristics and has capability to control high voltage
circuit with the help of low voltage circuit and also used
where single circuit can control more than one circuits. In
automatic part two batteries are used to operate the robot.
Power supply consist of 1voltage regulator 7805 3PIN, 1
shunt capacitor (1000uf), 1 led indicator and a 1K resistance.
All the signals and results displayed on LCD.

This paper presents a floor cleaning robot equipped with

Swedish wheels. It can be used in crowded places such as
houses, train station, airport etc.The robot can perform its
work in autonomous mode. Moreover the robot can pivot
around without turning, can avoid obstacles and is provided
with automatic power management ability and meanwhile, the
kinematics for its control and controlling methods are studied
and demonstrated. This new structure, smooth locomotion
capability and high working efficiency are verified by
experimentation. Vacuum cleaning can be done by this robot
and ultrasonic detections sensors are used for obstacle
detection [3].

Now the second part i.e. manual mode which is controlled by

user itself and consist of power (12V), AT89S52, LCD,
keypad, RF modules. AT89S52 is main part of the manual
mode, all the signals controlled by microcontroller and it takes
5V power to work. RF module is used to transmit and receive
the signal. If any hurdle detected in the manual mode then
robot send the signal through RF module of hurdle detection
to remote. RF module has 50m range and operating frequency
2.4 GHz. Keypad is used to give the direction to robot and
user through keypad user can control all the operation like;
movement of robot , cleaning action to on or off the cleaner
and water pump etc. All the information displayed on LCD.

In this paper a new type of home intelligent cleaner adopted

the ultrasonic and infrared sensor array, which has the
function of the real-time environment perception, is
introduced, and this cleaner driven by step motor has the
ability of autonomous working by itself and the functions of
the automatic detection and obstacle avoidance. This paper
adopts grid scanning algorithm based on electric map realize
floor coverage task, and designs synthesis detection system
based on sensor arrays finding method technology according
to algorithm characteristics, experimental results for obstacle
detection by static finding indicates that the design detection
systems improves cleaning robots environment perception
and path search ability greatly[4].

3. BLOCK DIAGRAM
The block diagram of this proposed research work Design
and development of floor cleaner robot (automatic and
manual) has shown fig. 2 and 3 for better understanding of
the proposed work. Block diagram consist of two parts: one
for automatic (robot) and another for manual (remote) mode.
The automatic part is integration of power (12V), AT89S52,
LCD, RF modules, dual relay circuit, LM293D, IR sensors
.AT89S52 is core of this system which controls all operations
and energized with 5V power. AT89S52 is used because of
better features like: it is low power, high performance CMOS
8bit microcontroller with 8K-bytes in-system programmable
flash memory, 256 byte RAM, 32 I/O lines, full duplex serial
port,16 bit timer/counter, on chip oscillator, and supports two
software selectable power signal modes, low power idle and
power-down mode. RF module provides wireless
communication between remote and robot and operates at 5V
supply and its operating range is 50m. IR sensors used for
obstacle detection. If any object appears in the robot way then
IR sensor detect the object and send signal to microcontroller
and buzzer beeps and robot change the lane automatically and
then start cleaning operation again and its range is 1 ft and it
works on 12V power.5 motors are used in this system;2 motor
used to drive the wheels, 1 motor used for water pump and 2
motors used for cleaning action. DC gear motors are used to
drive the robot. L293D IC used to drive the wheel motor
because of better features like: 600ma output current
capability per channel, 1.1A peak output current, inbuilt
diodes, over temperature protection and having high noise
immunity and it requires 12V power to work . Dual 9V relay
circuit is used to drive the cleaner motor and water pump
motor which is in normally open contact mode and works on

Fig 2 : Radiant Power vs Wavelenth of IR sensor

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International Journal of Computer Applications (0975 8887)

Volume 97 No.19, July 2014

Automatic Mode
LCD
RF MODULE
2.4GHZ

POWER
12V

7805
REGULATOR

IR SENSOR

AMPLIFIER
CIRCUIT

MICROCONTROLLER
AT89S52

MOTOR DRIVER CIRCUIT

IR SENSOR

MODE
SELECTION
SWITCHES

POWER
12V

AMPLIFIRE
CIRCUIT

WHEEL
MOTOR

Manual mode

CLEANER
MOTOR

WATER PUMP
MOTOR

CLEANER
MOTOR

Fig.3: Automatic mode

LCD

POWER
12V

7805
REGULATOR

MICROCONTROLLER
AT89S52

RF
MODULE
2.4GHZ

KEYPAD

Fig.4 : Manual mode

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International Journal of Computer Applications (0975 8887)

Volume 97 No.19, July 2014

4. SOFTWARE DESIGN
METHDOLOGY
START

INITIALIZE LCD DATA

CHECK AUTOMATIC AND MANUAL MODE

IF
AUTOMATIC
MODE?

MOVE FORWAED WITH CLEANING

IF ANY
HURDLE
DETECTED?

YES
CHECK FOR WALL

STOP AND GIVE ALARM

YES
NO
CHANGE THE LANE

END

Fig 5: Shows software flow for automatic mode

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International Journal of Computer Applications (0975 8887)

Volume 97 No.19, July 2014

START

MANUAL

CHEK KEYPAD

IFANY KEY IS
PRESSED?

SHOW DATA ACCORDINGLY

ON LCD AND TRANSMIT
SIGNAL

NO
NO

IF ANY
HURDLE
DETECTED?

CHECK ANY DATA

RECEIVED
YES

YES

DECODE THAT
DATA AND
DISPLAY ON LCD

DISPLAY SIGNAL AND STOP ROBOT

END

Fig 6 : Shows software flow for manual mode

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International Journal of Computer Applications (0975 8887)

Volume 97 No.19, July 2014
Fig 4 shows the software methodology of the floor cleaning
robot. Firstly, software checks data is initialized or not. If data
is initialized then it checks for which mode is selected,
automatic or manual. There are two conditions now automatic
and manual, if manual mode is selected then firstly, it checks
data given to the robot and then control the robot according to
given data. If any data received it will decode that data and
show that data on LCD. After that two conditions arrive, if
any hurdle detected then robot will send the stop and hurdle
detection signal to the remote and if there is no hurdle it will
work according to the given data. If automatic mode is
selected then firstly, robot will start moving forward with
cleaning action. After that if there is hurdle detected then it
will stop and give alarm and moves back and start again, also
check if there is wall then it turns and clean the further area.

Fig 10: Shows manual mode is selected

After manual mode selection, the robot will start cleaning
operation as the user wants to operate as shown in fig11.
Robot will move in forward direction with water pump and
cleaner on.

5. RESULTS AND DISCUSSION

Firstly, when we switch on the robot, it asks for which mode
we want to select i.e. automatic or manual. For automatic
mode press A and for manual mode press M as shown in
the fig7.

Fig 11: Shows the robot motion in forward direction

The fig. 12, shows the movement of robot in left direction
with water pump on and cleaner on.

Fig 7: Shows the mode selection

Now auto mode is selected which is shown in fig 8.

Fig 12: Shows the robot movement in left direction

Fig 13, shows robot moving in right direction with water
pump off and cleaner on it depends on user whether on or off
cleaner and water pump according to requirement.

Fig 8: Shows auto mode is selected

After the auto mode has been selected robot will start doing
cleaning operation automatically as shown in fig 9.

Fig 13: Shows the robot movement in rightt direction

Fig 14,shows the robot movement in reverse direction with
cleaner on and water pump off.

Fig 9: Shows that robot has been started and performs

cleaning
Now manual mode has been selected as shown in the fig 10.
After manual mode selection user can robot as he/she want to
operate in any direction as shown in above figures.

Fig 14: Shows the robot movement in right direction

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International Journal of Computer Applications (0975 8887)

Volume 97 No.19, July 2014

6. CONCLUSION

7. ACKNOWLEDGMENT

This research facilitates efficient floor cleaning with sweeping

and mopping operations. This robot works in two modes
automatic and manual for user convenience. This proposed
work provides the hurdle detection in case of any obstacle that
comes in its way. The obstacle detection range is 1ft. RF
modules provide wireless communication between remote and
robot and their range is 50m. If there is hurdle in the way of
robot, it sends the information to the remote which gets
displayed on the LCD. An automatic water sprayer is attached
which sprays water for mopping purpose for the convenience
of user. User can also operate this robot manually with the
help of remote. It reduces the labor cost and saves time also
and provides efficient cleaning. In automatic mode, the robot
operates autonomously. The operations such as sweeping,
mopping and changing the path in case of hurdle are
performed automatically.

We are grateful to CDAC Mohali, to provide all facilities

regarding research work and also grateful to MHRD , GOVT
of India for providing us all facilities to carry out research
work

Nonetheless, there are still new ideas to improve the

developed system and to add new functionality to it. Instead
of RF module, Xbee pro series module can be used to improve
the range of wireless communication. GSM module can be
used to send message that, the robot has done the cleaning
task. Camera can be used for navigation purposes. Vacuum
cleaning can also be done with sweeping and mopping.
Further, the robot can be made to move randomly in any
direction and its speed can be controlled.
Table 1. Comparison with previous work
S.NO

Features

Previous
Work

Present Work

1.

Cost

More than
10000.

Rs 10000.

2.

Keypad

Not
available.

3.

RF module

Not
available.

4.

No

5.

Automatic
water
sprayer
LCD

Available
to
operate robot
through remote
and for mode
selection.
Available for
wireless
communication.
Yes

6.

IR Sensors

No.

7.

Mode
of
operation

Only
automatic.

Not
available.

IJCATM : www.ijcaonline.org

8. REFERENCES
[1] Jens-Steffen Gutmann , Kristen Culp , Mario E. Munich
and Paolo Pirjanian. The Social Impact of a Systematic
Floor Cleaner . In IEEE international workshop on
advance robotics an its social impacts , Technische
University munchen, Germany May 21-23,2012.
[2]Evolution Robotics Inc. Introducing Mint-the evolution of
floor care, www.mintcleaner.com,2011.
[3]J-S. Gutmann, E.Eade, P.Fong and M.E. Munich. Vector
field SLAM. IN Int. conf. on Robotics and automation
(ICRA), 2010.
[4]J-Y. SUNG, R.E.Grinter, and H.I.Chrstensen, and
L.Go.Housewives domestic robot technology int. Journal
of social robotics, 2(4):417-429,2010.
[5]Youngkak Ma, seungwoo Kim, Dongik Oh and Youngwan
Cho.A study on development of home mess- cleanup
robot McBot.In IEEE/ASME international conference on
advanced mechatronics July 2-5, 2008, Xian, China.
[6] Xueshan Gao, Kejie Li, Yan Wang, Guangliang Men,
Dawei zhou and Koki Kikuchi. A floor cleaner robot
using Swedish wheels.In IEEE international conference
on robotics and biomimetics December 15-18, 2007,
Sanya, China.
[7] G Tuangzhi Dai and Tiequn Chen.Design on measurement
and control system of cleaning robot based on sensor
array detetion.In IEEE International conference on
control automation Guangzhou, CHINA-MAY 30 to
June 1, 2007.
[8] J Frolizzi C.Disalvo. Service robots in the domestic
environment: A study of Roomba vacuum in the home.
In int. conference on human robot interaction HRI,
PAGE 258-265 March 2006.
[9] H.Asada and J.-J E. Slotin, robot analysis and control, a
wiley-interscience publication, 1986, pp. 29-49.

Available for
displaying
authentication
results.
Yes.
For
obstacle
detection and
avoidance.
Automatic and
manual both.

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