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DESIGN AND FABRICATION OFAUTOMATIC FLOOR CLEANERA thesis Submitted in partial fulfilment of the requirements forthe award of the degree ofBachelor of TechnologyInMechanical EngineeringBySwarup Raj Jena(111ME0299)Under The Guidance ofProf. K. P. MaityDepartment of Mechanical EngineeringNational Institute of Technology RourkelaOrissa -769008, India2014-15
National Institute of TechnologyRourkelaCERTIFICATEThis is to certify that the thesis entitled ― “Design and fabrication ofAutomatic Floor Cleaner” submitted to the National Institute of Technology,Rourkela (Deemed University) by Swarup Raj Jena, Roll No. 111ME0299for theaward of the Degree of Bachelor in Technology in Mechanical Engineering is arecord of research work carried out by him under my supervision and guidance.The results presented in this thesis has not been, to the best of my knowledge,submitted to any other University or Institute for the award of any degree ordiploma. The thesis, in my opinion, has reached the standards fulfilling therequirement for the award of the degree of Master of technology inaccordance with regulations of the Institute.Place: RourkelaDateDr. K. P. MaityProfessorDepartment of Mechanical EngineeringNational Institute of technology,Rourkela- 769008
DESCRIPTION1. ABSTRACT . 12. INTRODUCTION 22.1 CLEANING2.2 SCRUBBING2.3 AUTOMATION3. AIM OF CURRENT WORK .4 .54. LITERATURE REVIEW4.1 BODY4.2 INDOOR NAVIGATION4.2. MODELLING THE SPIRAL PATH5. DESIGN OF PRESENT WORK 125.1 CHASSIS5.2 VACUUM SYSTEM5.3 SPRINKLER MECHANISM5.4 SCRUBBING MECHANISM5.5 MOTOR-WHEEL SYSTEM5.6 CONTROL SYSTEM6. ELECTRONICS PARTS USED . 217. POSSIBILITY OF COMMERCIALISATION . 318. CONCLUSION 325
AcknowledgementI express my deep sense of gratitude and indebtedness to my thesis supervisor Dr. K. P. Maity,Professor of Mechanical Engineering for providing precious guidance, inspiring discussions andconstant supervision throughout the course of this work. His timely help, constructive criticism,and conscientious efforts made it possible to present the work contained in this thesis.I express my sincere thanks to Prof. Suraj Kumar Behera and Mr.Rajaranjan Senapati, Btechstudent for their support during the project work. I am also thankful to all the staff members ofthe department of Mechanical Engineering and to all my well-wishers for their inspiration andhelp. I am also thankful to my classmates for their help during my project work.I feel pleased and privileged to fulfil my parent’s ambition and I am greatly indebted tothem for bearing the inconvenience during my B Tech. course.Swarup Raj JenaRoll No:111ME02996
CHAPTER -1ABSTRACTAutomatic floor cleaner is a system that enables cleaning of the floor by the help of highlystabilized and rapidly functionalized electronic and mechanical control system. Current projectwork targets to use automatic floor cleaner for large floor in house-hold purposes and officefloors. The cleaning purpose is specifically carried out by continuous relative motion between ascrubber and the floor surface. During the cleaning and moving operation of vehicle a propulsionmechanism such as driven wheels and guide wheels for the dry tracking on the floor surface tobe cleaned, suction of water is carried out by vacuum pump, scrubbing action is done by thescrubber directing water towards rear end. Preferably, a sweeper mechanism is mounted on thebody forwarded by propulsion mechanism and operated with such control system for advancesweeping of a debris-laden floor surface. A PID controller is used to govern the motion ofsystem which takes the input from sensor circuit and feeds it back to microcontroller which givesrise to the simulation of wheel in a synchronized manner. The new automatic floor cleaner willsave huge cost of labor in future. The basic advantage of this product is that it will be costeffective and no human control is needed. Once put in on mode it will clean the whole roomwithout any omission of surface.7
CHAPTER-2INTRODUCTION2.1 CLEANING:Cleaning is the essential need of the current generation. Basically in household floors thefloor has to be cleaned regularly. Different techniques are used to clean the different types ofsurfaces. The reasons for floor cleaning are Injuries due to slips on the floors are cause of accidental injuries or death. Bad practicein floor cleaning is a major cause of accidents. To beautify the floor. Debris and obstructions are to be removed. Allergens and dusts are to be removed. Surface wear to be avoided. To make the environment sanitary (kitchens). Traction should be maintained at optimum level, so that no slip will occur.Floor cleaning is achieved by different technique which might be of different kinds. Differenttypes of floor need different type of treatment.The floor should be totally dry after the cleaningprocess.Otherwise it may result in hazard. On some floors sawdust is used to absorb all kinds ofliquids. This ensures that there will no need of preventing them from spill of. The sawdust has tobe swept and replaced every day. This process is still used in butchers but it was common in barsin the past. In some places tea leaves are also used to collect dirt from carpets and also for odorremoving purposes. Different types of floor cleaning machines are available today such as floorbuffers, automatic floor scrubbers and extractors that can clean almost all types of hard floors orcarpeted flooring surfaces in very less time than it would have taken using traditional cleaningmethods. Again the cleaning would be different for different floorings.2.1.1 WOODEN FLOOR:Wooden flooring is treated differently depending on which type of coating it has, whetherwaxed or oiled, or whether it has a polyurethane coating. The very important thing in case of this8
type of floor is which type of coating it is having and find out the proper way of cleaning it.Simple cleaning instructions followed are1. The floor should be cleared of all the furniture those are easy to move.2. All lose debris particles are to be swept or vacuum cleaned.3. The floor is mopped going along grains. If the floors are polyurethane, the mop has to bedipped with water and a few drops of dishwashing liquid. The mop should be ringed outthoroughly before it is used on the floor.4. The floor is to be buffed using a soft fabric to remove soapy dirt.The softer the cloth, thebetter it works because they have good absorbent capacity.2.1.2 TILE OR STONE FLOORS:Modern houses are equipped with tiles, marble flooring that can be cleaned easily. Fewspecific ways are:1. Debris particles are to be removed using vacuum cleaner or else broom.2. Floor cleaning solution should be used for appropriate floors. If it is stone surface, itshould be cleaned using solutions for stones only. For ceramic floors acidic tile cleaningagent is to be used.3. A mop or scrubber is used to scrub and clean the floor.2.2 SCRUBBERBasically the Indian floors are cleaned by rubbing the floor with a hard cloth or plasticlike material called scrubber or mop. Hence design of scrubber is an important task whilecleaning Indian floors. The motion of scrubber on the surface may be rotatory or harmonicdepending upon the type of material used or surface to be cleaned. Normally hard material likeheavy cloths are used for making the scrubber. The basic purpose of the scrubber is to clean thesurface completely and also soak the water or liquid used for cleaning the surface. In our case wehave used a scrubber that is made up of a cloth wounded over a metallic bar (cylindrical rod).The additional purpose of the scrubber is to make proper flow of dirt water towards the directionneeded. In some cases a single spot is to be scrubbed more than once. For this purpose harmonicmotion is used which enable better removal of debris. But in our case the purpose is to cleanhousehold flooring so relative rotation of scrubber is made to achieve required purpose.9
2.3AUTOMATION:It is the process of using different components to make the whole machinery processoperate automatically. We may use micro-controller, image sensing technique for achievingdesired motion. Especially when different types of motions are involved the process become verymuch complicated and need different algorithm for optimum movement of the system. Againwhen different power sources are used and they have to be operated at different time microcontroller is essential. In our case the purpose of the micro-controller is to make all the systemswork in proper sequence and move according to the image sensed. Image sensing is basicallyachieved by ultrasonic sensors.These type of sensors work according to the passive type ofsensory circuit. This system sends ultrasonic range wave and the wave reflects after encounteringany obstacle. This retraced wave is sensed by the sensory circuit which there by calculates thedistance of the obstacle. The data achieved from this process is processed for the futuremovement of the machine.10
CHAPTER-3AIM OF PRESENT WORK :Present work is aimed at working of an automated motion controlled machine that couldclean the floor of normal Indian house-hold. Once the machine is put in ON mode it will moveall over the surface without omitting any bit of floor space. Again the machine should avoid theobstacles on its path. Proper cleaning is achieved by motion of the scrubber which is relativelyrotational in manner. The cleaning process is carried out by making the floor wet and scrubbingit and again making the floor dry. The floor should be dry after the process is complete becausewet floor leads to different sort of problems as discussed above. For this purpose vacuum pumpsare to be used. The cleaning also meet challenges like which type of debris it will meet. So drycleaning arrangements are installed. This leads to proper cleaning when heavier particles arethere as debris particle. Thus leading to proper cleaning of the surface. There may be oilysurfaces in some cases. To counter act this situation necessary disinfectants are to be used. 4wheel drive mechanism should be used for proper control of the machine. To control all themotors and vacuum pumps basically micro controller of Aurdino type is used. For completingthe motion all over the surface spiral mechanism and particle swarm optimization method isbeing utilized. Image sensing technique for avoiding obstacles are to be used. Optimizationmethods are used for increasing efficiency of movement algorithm. It ensures no repeatability ofthe motion over a certain space. Basically we are to design a portable machine that could moveautomatically all over the floor surface avoiding obstacles and cleaning the floor.11
CHAPTER-4LITERATURE REVIEW :Traditionally floor is cleaned by hand using different handmade instruments. Initially itwas being washed by different reed brushes. According to Egyptian houses were built of sundried mud bricks at times white-washed and the floors were stamped earth. The floor of theoutdoor kitchen too was simply the ground baked stone hard by the sun. Unless it was raining,which happened only rarely, these floors were easy to keep clean by sweeping. Like most ancientEgyptian tools, these brushes did not have long handles which would have rendered their use lessirksome, and required bending low when employing them.For the ease of human beings different designs of brushes are evolved. Again during the age ofmonarchs carpets of different designs are utilized to cover the floor to keep it clean. As the timepassed new scientific era begins a lot of new methods are used to clean the floor. The first amongthose was the reciprocating action of brush actuated by muscular force. The brush design ischanged time to time depending upon the floor structure and ease of washing personnel. As theelectricity came into role vacuum cleaner are invented to clean a dry surface. Moving forwarddifferent floor cleaning machines are being invented to clean the floor with less application ofmuscular power. Then came the concept of mobile robot.Mobile robots have the capability tomove around in their environment and are not fixed to one physical location. By contrast,industrial robots are usually more-or-less stationary, consisting of a jointed arm (multi-linkedmanipulator) and gripper assembly (or end effector), attached to a fixed surface.12
For the help of mankind the first floor cleaner was manufactured during 1980s. In thoseequipment the aim was to wash the floor with less power utilization. There sweeping mechanismof mop is actuated by a timing motor which was controlled by the dc circuit. Here water issprinkled on the mop and hence the wet mop is used to clean the debris from the floor. But theproblem here was it can’t use any chemical solvent or disinfectant. Again for soaking purposeonly hot air is used. Again for moving the machine a worker has to be engaged. To overcomethese conflicts current study was done to enable the cleaner move automatically throughout anykind of room. The moping mechanism is also modified to lessen the cost. In current study themop is continuously revolving about a axis perpendicular to the motion of the cleaner which alsohelps in directing water on the floor backward. Instead of using a wet mop a sprinkle mechanismis used to make the floor wet which is scrubbed by the mop. A vacuum cleaner was used to soakdirty water from the floor surface and side by side cleaning the surface. For automatic motion ofthe cleaner mobile robotics is used.Mobile robots are a major focus of current research and almost every major university has one ormore labs that focus on mobile robot research. Mobile robots are also found in industrial,military and security settings. Domestic robots are consumer products, including entertainmentrobots and those that perform certain household tasks such as vacu
Once put in on mode it will clean the whole room without any omission of surface. 8 CHAPTER-2 INTRODUCTION 2.1 CLEANING: Cleaning is the essential need of the current generation. Basically in household floors the floor has to be cleaned regularly. Different techniques are used to clean the different types of surfaces. The reasons for floor cleaning are Injuries due to slips on the floors are .
