Home mopping, dry vacuum cleaning etc. Some products

Home Cleaning Bipedal Robot

Saurabh Gautam , Shivani Singhal , Arinjay Jain ,
Vivaswan Singh Bhadauria

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Department of Electronics and Communication Engineering

Northern India Engineering College, New Delhi, India


Abstract- This paper aims at designing and the development of a home cleaning robot
which can vacuum and  sweep your home.
Apart from normal cleaning the bipedal robot as the name suggests has two legs
for climbing the stairs.

          To make
it more interactive and user friendly some additional features of fire
detection, obstacle detection, pick and place are added.



In recent years, floor cleaning robots have taken major
attention in robotics research due to their effectiveness in floor cleaning
applications at homes, hotels, restaurants, offices, hospitals, workshops, and
universities etc. Basically, floor cleaning robots are distinguished on their
cleaning expertise like floor mopping, dry vacuum cleaning etc. Some products
are based on simple obstacle avoidance using infrared sensors while some
utilize laser mapping technique.

Here we propose a smart floor cleaning robot that allows
for remote floor cleaning. The bot makes floor cleaning very easy and a fast
process using a wireless robotic cleaning system. The user may sit at a place,
start a bot and clean wherever needed. The robot will also be able to
climb the stairs to clean them.

It is Self-balancing robot which balances itself and
automatically corrects its position on disturbance.  It will be
prevented from falling by giving acceleration to the wheels according
to its inclination from the vertical. If the bot gets tilts by an angle, than
in the frame of the wheels, the center of mass of the bot will experience a
pseudo force which will apply a torque opposite to the direction of tilt. 

As it contains the tank of water, it can be utilized to
sprinkle water in case of fire by detecting the fire. In this case, a fire
sensor is used to detect the occurrence of the fire in the surrounding environment. Actually,
here a fire sensor is connected to a circuit which produces a digital output
when the fire is detected. This automatic solution will respond in time, when
fire is detected and will save many lives by sprinkling the water on the fire.

In case of any obstacle, the robot will be
able to detect it. It is designed to demonstrate detection of any object ahead
of the ultrasonic transducer. The ultrasonic module is interfaced to
the microcontroller of 8051 family. Whenever any object approaches near the
ultrasonic module, the signal transmitted the transmitter is reflected by this
object and is received by the module. When the microcontroller receives the
signal from ultrasonic receiver it actuates the output to take the appropriate



With the advent of the 21st century and the rapid
development of technology, more and more high-tech products have come into
people’s daily lives. Among them, a new generation of cleaning tool – home
cleaning robots has emerged as one of the most popular high-tech products in
the world. Robot floor cleaners have greatly relieved the burdens of people and
meet the cleaning requirements of people.



1.Circuit design of Bipedal Robot



We have various sensors and motors in the implementation
of the home cleaning bipedal robot. The details of which are as follows:


 A servomotor is a closed-loop servomechanism that uses position feedback to control its motion and
final position. The input to its control is a signal (either analogue or
digital) representing the position commanded for the output shaft.



 An ultrasonic sensor is a device that uses
high-frequency sound to measure distance. These sensors are also known as
transceivers, and operate similar to sonar. While sonar is primarily used
underwater, ultrasonic transceivers can be used in air. Sensors using
ultrasonic waves are common in industrial and medical applications.



 A DC motor is any of a class of rotary
electrical machines that converts direct current electrical energy into
mechanical energy.



Temperature Sensor, also known as optical flame detector
sensors, report the presence of visible fires within a protected area. All
flames emit visible light plus invisible infrared (IR) and ultraviolet (UV)
radiation. Our UV or UVIR flame detector sensors use these invisible radiations
to distinguish between a real flame and other sources of radiation that are
visible to the detector.



A water pump is a mechanical device that takes water from
an inlet side, using suction or pressure to move the fluid out for cooling or
use in other sources.


The accelerometer is a built-in electronic component that
measures tilt and motion. It is also capable of detecting rotation and motion
gestures such as swinging or shaking.


The basic concept of an Infrared Sensor which is used as
Obstacle detector is to transmit an infrared signal, this infrared signal
bounces from the surface of an object and the signal is received at the
infrared receiver.


A relay is an electrically operated switch. Relays use an
electromagnet to mechanically operate a switch. Relays are used where it is
necessary to control a circuit by a separate low-power signal, or where several
circuits must be controlled by one signal.


The microcontroller used here is ATmega 328 which is a
single-chip microcontroller created by Atmel in the mega AVR family. The Atmel
8-bit AVR RISC-based microcontroller combines 32 kB ISP flash memory with
read-while-write capabilities, 1 kB EEPROM, 2 kB SRAM, 23 general purpose I/O
lines, 32 general purpose working registers, three flexible timer/counters with
compare modes, internal and external interrupts, serial programmable USART, a
byte-oriented 2-wire serial interface, SPI serial port, 6-channel 10-bit A/D
converter (8-channels in TQFP and QFN/MLF packages), programmable watchdog
timer with internal oscillator, and five software selectable power saving
modes. The device operates between 1.8-5.5 volts. The device achieves
throughput approaching 1 MIPS per MHz.



A program for Arduino may be written in any programming language for a compiler that
produces binary machine code for the target processor. Atmel provides a
development environment for their microcontrollers, AVR Studio and the newer
Atmel Studio. The Arduino project provides the Arduino integrated development environment (IDE), which
is a cross-platform application written in the
programming language Java. It originated from the IDE for the
languages Processing and Wiring. It includes a code editor with features
such as text cutting and pasting, searching and replacing text, automatic
indenting, brace matching, and syntax highlighting, and provides simple
one-click mechanisms to compile and upload programs to an Arduino board. It
also contains a message area, a text console, a toolbar with buttons for common
functions and a hierarchy of operation menus. A program written with the IDE
for Arduino is called a sketch. Sketches are saved on the development computer
as text files with the file extension .ino. Arduino Software (IDE) pre-1.0
saved sketches with the extension .pde. The Arduino IDE supports the languages C and C++
using special rules of code structuring. The Arduino IDE supplies a software
library from the Wiring project, which provides many common input
and output procedures. User-written code only requires two basic functions, for
starting the sketch and the main program loop, that are compiled and linked with
a program stub main () into an executable cyclic
executive program with the GNU
toolchain, also included with the IDE distribution. The Arduino IDE
employs the program avrdude to convert the executable code into a text file in
hexadecimal encoding that is loaded into the Arduino board by a loader program
in the board’s firmware. Due to the company’s open source nature, there exist
many free public libraries for developers to use to augment their projects.

Figure 2.Arduino IDE



 It saves time.

 Ideal for people
with mobility issues.

 It can clean when
we aren’t home.

 No need of any
manual operation because its fully automatic.

 Advanced features
like fire detection and vacuum cleaning.

 Detects changes
between surfaces (i.e. detect walls and stairs) and automatically get     adjusted.

 We can enable
virtual walls to set boundaries.

 Detects amount of
dirt in different spots.

maintenance required.

 Smart home



 It has wheels to move faster on

 Have a mop attached beneath foots
for ease in cleaning.

 It has features like vacuum cleaning
and dirt disposal.

 Able to go under furniture and
around corners.

 Small water container is attached
with it for better cleaning.

 A fire detecting sensor is also
connected to it for accident prevention.

 It can detect obstacles with the
help of IR sensor.

 It can also climb on stairs at a
particular height to clean it too.

 It has an Ultrasonic sensor to
measure distance from any object.



The objective of this project is to make a home cleaning
robot which is fully autonomous and manual featured with user friendly
interface. The vacuum cleaner is able to vacuum, mob and sweep. The robot named
as BIPEDAL. The testing of the robot showed that it can achieve almost all the
functionalities which were planned to implement originally. BIPEDAL can be used
in wheeled and bipedal modes as per tasks requirement. While cleaning the
floor, the bipedal robot is in wheeled mode which makes it more power efficient
and fast operation.

 On the other side,
the bipedal mode helps the robot to climb the stairs by using the ultrasonic
sensors. The cleaning operations works in both the mode easily and effectively.

 Customers are
provided with the user-friendly interface to operate the robot without any
difficulty. CLEAR most importantly consumes extremely low energy which is 90W
and take lead from the competitors. However, the weakness of the robot is that
it only cleans the small particles, it also doesn’t find which particle to be
cleaned and which is not to be cleaned. This function can be included in future
enhancements of this robot. The evaluation shows that our product is reliable
and cost effective. It works with less energy consumption. The results showed
that users from the university found no difficulty in using the product. Its
results also showed that this product is user-friendly in both modes.



This paper shows the implementation of IEEE Standard 1621
IEEE Standard for User Interface Elements in Power Control of Electronic
Devices Employed in Of?ce/Consumer Environments in terms of smart ?oor cleaning
robot. The paper shows a better and simple approach to provide an overview of
design of a simple robotic cleaners control design using gadgets and
instruments easily available in the market. This robot is specially made on the
basis of modern technology. BIPEDAL has all the features which are required by
a vacuum cleaner. It can work automatically and manually. BIPEDAL has many competitors
who are selling same product in high prices. This is ?rst locally manufactured
smart vacuum cleaner with all the features up to the standards of IEEE.
Features of this robot can be enhanced with addition of mapping and high
suction. As it has scheduling feature which can be operated android and windows
app which makes it more user friendly. It can also be used for the industries
where cleaning with the help of human is toxic, it can easily be used. 



1 IEEE Standard for User Interface Elements in Power
Control of Electronic Devices employed in Office/Consumer Environments, IEEE
Standard 1621,2004(R2009).

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