Environmental Cleaning Advancements: A Robotic Solution for

Sustainable Living
Amit Arora1*, Prabhat Kumar Srivastava2, Ruchin Kacker3 and Sanjay Singh4
1
Electronics and Communication Engineering, Galgotias University, Noida, India
2
Electronics and Communication Engineering, Galgotias University, Noida, India
3
Department of Mechanical Engineering, Sagar Institute of Science and Technology, Bhopal, MP, India
4
Department of Mechanical Engineering, Sagar Institute of Science and Technology, Bhopal, MP, India

*Corresponding Author email: amit.arora@galgotiasuniversity.edu.in

Abstract. In an era of rapid technological progress, our wet and dry robotic cleaner is a
pioneering solution. It marries mopping and sweeping functions, excelling at maintaining
clean living spaces. Key to its innovation is the capability to respond to environmental cues.
On detecting the dust, it springs into action, eliminating dirt with a mechanical suction motor.
Equipped with a rain sensor, it detects moisture on the floor, triggering the mop function.The
robotic cleaner boasts ultrasonic sensors, enabling autonomous navigation and obstacle
avoidance, ensuring efficient cleaning. Controllable through the Blynk IoT platform via the
esp8266 Wi-Fi module, it can be tailored to specific cleaning needs. This technology holds
immense promise. It not only streamlines cleaning in homes and offices but also aids
industrial settings, enhancing environmental health, safety, and efficiency. By reducing the
need for manual labor, it contributes to sustainable development and lessens environmental
pollution. Our paper displays a prototype that highlights the potential of robotics in
addressing environmental and cleaning challenges. It aligns with conference themes of
sustainable development, technological innovation in industrial environments, and bolstering
community resilience against environmental challenges. This innovative cleaner signifies a
step forward in leveraging technology for a cleaner, more sustainable future.
Keywords: Robotic Cleaner, Sustainable Development, Environmental Innovation, IoT
Technology, Cleaning Automation

1. Introduction
Since the advent of robotic cleaners in recent years, humans have become increasingly
interested in how they can assist them with floor cleaning applications in homes, hotels,
restaurants, offices, hospitals, workshops, etc. The main distinction between robotic cleaners
and conventional cleaners is the cleaning expertise they offer, like floor moping and dry
vacuum cleaning. There are advantages and disadvantages to each way of cleaning and
operating robotic floor cleaners [1]. This machine comes in a simple design that can be
operated easily by anyone. This product consists of a cotton brush with moisture that cleans
the floor using a small blower for drying [2]. With the evolution of technology over the years,
these devices have been used in many fields. The autonomous cleaning machines can run on
surfaces such as land, air, or water, but each is designed differently [3]. As an android
application is operated by a human, the proposed system is a manual one. This system is
completely dependent on an Android application to function [4].

The purpose of this was to leave out some functional requirements that would have improved
the performance of the robot. They are either complex or mechanically implausible. A semi-
or fully autonomous robot can provide human and equipment well-being by performing
services semi- or fully autonomously [5]. The result is that dust and particulate matter can be
easily removed not just in industries but in houses as well. There hasn't been any major
technological advancement in the wet cleaning process or mopping, which makes it much
more unattractive to do [6]. It is possible to dramatically reduce the amount of cleaning
needed when entrance mats are well maintained. Approximately 80 to 90% of dirt tracked
into public and office buildings come from outside [7]. In response to a command from the
android device, this robot sprays water on the floor after receiving the cleaning pad command
from the android device. According to the commands it receives [8], it can drain the dirty
water into the container needed after cleaning the wet floor.

2. Related Work
Several autonomous and manual cleaning robots are available today in the robotics field.
Many of their unique features have been adapted to make them easier to use. Ultrasonic
sensors detect obstacles on the robot's path now it is turned on [9]. Various modelling
approaches are presented in the following papers.

2.1 Design and Optimization of Vacuum Floor Cleaning Robot

DC motors were used to construct the vacuum cleaner. To make it easy to vacuum, this motor
is mounted inside the vacuum cleaner. The DC motor drives an omnidirectional fan, which in
turn creates a vacuum and draws in air to intake the dirt [10].

2.2 A smart autonomous Floor Cleaner with an Android-based Controller

Mopping and vacuuming automatic floor cleaning robot is designed and implemented in this
paper. In addition to being autonomous, the robot can also be controlled via a Bluetooth
application from an android device. Users are intended to be provided with a battery-operated
(hence no attached wires) and the wireless robot that is easy-to-operate and can avoid
obstacles, as well as prevent itself from falling, for example, off stairs, using cliff sensors
[11].

2.3 Sweepy – The Smart Floor Cleaner

Autonomous movement is designed for the robot. To detect obstacles, the Arduino Mega is
equipped with ultrasonic sensors. Additionally, a Bluetooth module HC05 is utilized to
establish manual control of the robot, and an application designed to control its movements is
developed. Sweeping and mopping can be accomplished simultaneously in one sweep.
Pumps allow water to flow to an area so that it can be mopped. Dust and dirt encountered by
the robot are sucked up by a vacuum cleaner. The app allows judicious use of power and
water [12] by allowing the user to control accessories on the robot.

2.4 Smart Home Cleansing Appliance an Initiative for Smart Living

Smart machines such as the one proposed here have. A voltage regulator drives the receiver
circuit, which is connected to motor1 and motor2. Further, the two motors propel the wheels
in both clockwise as well as anticlockwise directions simultaneously; thereby, the machine
moves purposefully. The relays R1, R2, R3, R4, R5 are each connected to separate elements
of the CPU: the fan, the water pump, the vacuum cleaner, and the scrubbing motor [13].

3. Hardware Description
 Fig. 1 Block Diagram of the System

Figure1 depicts the functional block diagram of the system and is used for implementation in
practice. It shows the blueprint of the system.

3.1 Arduino UNO

The Arduino board is based on the ATMEL Microcontroller ATMEGA328p. Using the
Atmel 8-bit AVR RISC microcontroller, the device is equipped with 32 KB In-System
Programmable Flash(ISP) capable of reading and writing, EEPROM of 1 KB, 2 KB SRAM,
23 general-purpose I/O channels, 32 I/O registers, three timers/counters that are
programmable, an internal and external interrupt controller, a 2-wire serial interface with
byte-oriented addressing, a 10-bit A/D converter (6 channels in TQFP and QFN/MLF
packages), and five power-saving modes covered by the software. 1.8 to 5.5 volts are needed
to operate the device. Data is clocked onto the rising edge of the MCU, and data is clocked
off of it on the falling edge. Throughput approaches 1 MIPS per MHz while SCK and RESET
are set to zero, power is applied to VCC [14]. A simple, low-powered, low-cost
microcontroller, ATmega328 is readily available for many projects and autonomous systems.

3.2 Motor driver (L293D)

Two L293D motor drivers; Four H-Bridges. The L293D features an output current of 0.65A
per bridge, with a peak output of 1.20A, and motor voltages of 4.5VDC to 16VDC. If
upgraded can reach 36V (if C6 and C7 are upgraded). Four bidirectional, 8-bit DC motors
(256-speed selections). Bipolar or unipolar stepper motors (combination). When the motors
are powered up, pull-down resistors disable them. Different connections for the motor and the
logic. Motor and power terminal blocks. Two 5-volt servo connections.

3.3 Ultrasonic sensor (SC-H04)

The HC - SR04 ultrasonic ranging module provides a non-contact measurement range of 2cm
- 400cm, with a measurement accuracy of 3mm. There are three modules in the system:
ultrasonic transmitter, ultrasonic receiver, and control circuit. Principles of operation: (1) Use
an IO triggered by a high-level signal lasting at least 10 seconds. (2) A pulse signal will be
detected if the Module sends eight pulses at 40 kHz. In summary, if the signal is returning
through high-level audio, the time spent from transmitting ultrasonic to returning is the
duration of the high-level output IO. Distance to test = (high level time) * (sound velocity
(340M/S) / 2.

3.4 Suction unit (Vacuum)

A dirt bag is attached to the suction unit to suck dirt into it, and a DC motor will be used for
both rotating and suction purposes. Propellers are made of steel and the diameter is 5 cm;
each plate has a diameter of 22 degrees and is divided into 8 equal plates. It requires 0.4 amps
of current. It has a narrow nozzle that measures 1 cm in diameter. Dust is prevented from
entering this section by enclosing the vacuum assembly in a rigid plastic chamber. A
waterproof cover protects it from water splashes. Dust can be sucked in and removed by
rotating the unit and detaching it.

3.5 Software Description

The Arduino IDE is the free software that is used to program the Arduino, enabling
programming in the Arduino language. Arduino is built on top of C/C++, and libraries based
on C++ can be added. The Arduino IDE is a software development environment that allows
you to write a computer program which is a set of step-by-step instructions for uploading to
the board [15]. Those instructions will then be carried out by Arduino and interact with
whatever is connected to it. The programming language Arduino uses is called a "sketch".

4. Circuit Diagram
Figure 2 represents the circuit connections of the system with internal functionality and its
schematic layout is used for working of the device. according to the commands given by the
program. Figure 3 illustrates the working model of a project.
Fig. 2 Circuit diagram of the system
 Fig. 3 Working Model of the System

5. Methodology
As it moves throughout the room, the robot does so autonomously. The Arduino UNO is
equipped with an ultrasonic sensor to detect obstacles. Furthermore, the robot can be
controlled manually utilizing the Wi-Fi module, and an application is designed to control the
robotic movements. Mopping and sweeping can be done simultaneously with a single sweep.
Water flow is detected by the rain sensor to mop an area. Robots are equipped with vacuum
cleaners to remove dust and dirt. In addition to enabling judicious use of water and
electricity, the app makes it possible to control the accessories. The robot's autonomous
movement is characterized by zigzag movements when it comes into contact with walls or
other objects. An application can be used to control the robot wirelessly. Pushing a button on
the application allows the robot to switch between autonomous and manual operation. Dust
and other particles are sucked up by the robot's interior employing a vacuum pump. Utilizing
a wiper, the robot mop's bottom. Accessible via an app, these accessories are controlled too.
The posterior end of the mop is equipped with a drying system to dry the mopped area. In
automatic mode, the MPU is used to enable the robot's zig-zag movement. The user's choice
of manual or automatic operation is checked first. When the user selects manual mode, the
robot can be controlled manually.

6. Discussion
The design of this model is tailored for effective brooming and mopping applications, making
it an accessible and practical solution for users of all ages, particularly the elderly. Cleaning
floors can be a challenging task for seniors, but this robot provides a user-friendly and
efficient means of maintaining cleanliness in their living spaces. Its intuitive design ensures
that elderly individuals, enhancing their quality of life, can easily manage it. Furthermore, the
potential for widespread adoption and ease of use extend beyond households. This robotic
cleaning technology holds promise in various sectors, from healthcare facilities to industrial
settings, where its automation and adaptability can significantly improve cleanliness and
safety standards. In conclusion, this model not only simplifies cleaning for the elderly but
also offers versatile applications across different fields, reflecting its potential to address
broader societal and environmental needs. The user-friendly design ensures that people of all
ages can access the benefits of this technology, transforming how we approach cleaning and
maintenance in various contexts.
.
7. Conclusions
The development of this intelligent home cleaning appliance hardware model stems from the
increasing demand for time-efficient automated solutions. An in-depth analysis of the
simulation results demonstrates a strong alignment with the real-time hardware operations of
the system, affirming its reliability and accuracy. The sophistication of the simulation results
is a testament to the high level of engineering that underpins this model. What sets this
technology apart is its user-friendliness; it doesn't necessitate any technical expertise from the
end-user. This accessibility factor extends its potential beyond domestic use to encompass
commercial applications, making it a versatile and valuable addition to the automated
machine market. In summary, the creation of this smart home cleaning appliance marks a
significant stride in simplifying and enhancing the way we approach everyday chores. Its
successful blend of automation, accuracy, and ease of use positions it as a versatile solution
with considerable potential in both domestic and commercial sectors.
.

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