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978-1-6654-8695-8/22/$31.00 ©2022 IEEE
Design of Automated Solar Floor Cleaner using
IOT
K ManiRaj
Department of Electronics and
Communication Engineering
MLR Institute of Technology,
Hyderabad, India
manirajk@mlrinstitutions.ac.in
Pallavi Madamanchi
Department of Electronics and
Communication Engineering
MLR Institute of Technology,
Hyderabad, India
indiapallavimadamanchi257@gmail.com
Kiran Dasari
Department of Electronics and
Communication Engineering
MLR Institute of Technology,
Hyderabad, India
kirandasarinitw@mlrinstitutions.ac.in
Meghana Lanka
Department of Electronics and
Communication Engineering
MLR Institute of Technology,
Hyderabad, India
meghanalanka2412@gmail.com
Banoth Ravi
Department of Electronics and
Communication Engineering
MLR Institute of Technology,
Hyderabad, India
mlrit.bravi@gmail.com
Bittu Kumar
Department of Electronics and
Communication Engineering
MLR Institute of Technology,
Hyderabad, India
bittu.mlrit@gmail.com
Abstract—Technology makes cleaning more intelligent and
accessible. Future energy sources will become saturated and
run out. Instead of using nonrenewable energies, consider solar
power. Today, practically every field uses solar energy.
Cleaning is one household task that never becomes obsolete
and welcomes new technology. Floors are cleaned with
broomsticks, vacuum cleaners, and advanced robot cleaners
like Roomba. Middle-age vacuum cleaners and even advanced
robotic cleaners are too expensive for low and middle-class
consumers. Traditional vacuum cleaners reduce the amount of
human energy needed to clean floors, but the user must remain
behind the machine to direct the suction pipe to dusty areas.
These vacuum cleaners are likewise plugins, meaning they can
only be used while plugged in. Solar energy is used to charge
the battery, which powers the driving circuit. This cleaner uses
Arduino-Uno and Motor driver L293D. This designed solar
floor cleaner is driven autonomously with sensor
communication by recognizing obstructions and avoiding
them. Another Bluetooth module lets the user steer the cleaner
to any desired area. This module accepts commands and drives
the model. This household and outdoor cleaner provide easy
and rapid cleaning. It avoids regular vacuum cleaners' 'plugin
and use' method by self-moving and cleaning concurrently.
Thus, automated solar floor cleaners have efficient cleaning
benefits and uses.
Keywords—Solar energy, Arduino, ultrasonic sensor, obstacle
avoidance, IOT.
I. INTRODUCTION
Every manual activity has been and is still being made
easier using advanced technologies. Likewise, floor cleaning
activity has also become easier using vacuum cleaners long
ago. It helped humans in terms of the energy put by them in
cleaning. However, vacuum cleaners still need continuous
human involvement to handle the vacuum pipe where the
dust-sucking effort is minimized for the Human as taking
the pipe to dust filled area is the only prime task for any user.
Any useful appliance requires some energy to work
(electrical energy). Similarly, these vacuum cleaners also
need electrical energy to work only when they are plugged
in for supply. To avoid the mentioned types of efforts
(human effort, electricity), we have designed an automated
solar floor cleaner that does both cleaning and self-driving
using portable cleaner and ultrasonic sensors. The developed
cleaner also has a Bluetooth module connected to the
Arduino-Uno in the circuit also to ensure user connectivity
when required. The battery used for driver IC L293D and
Arduino circuit for moving the wheels' motors is charged
with a solar panel. This cleaner has three ultrasonic sensors
placed in a circular arrangement on the base of the cleaner to
cover all round obstacles in the path. This ensures
minimizing human involvement in moving the cleaner
always and can also navigate the cleaner to any desired
location whenever required occasionally through Bluetooth
module HC-05. Thus, this development can do the tasks
mentioned above relatively low cost.
In this paper, section II presents a detailed literature
survey about this work. Section III shows the method which
is used in this work. Section IV describes the results and
discussion parts of this paper. Finally, section V concludes
the results presented in this paper and includes the future
scope of the works.
II. LITERATURE SURVEY
By studying the various research papers, we have figured
out the design to implement an automated solar floor
cleaner. Considering all the relatively existing research
works, we have chosen the same research areas after
studying the literature survey about the automatic solar floor
cleaner. In [1], authors have collectively developed a system
with the connectivity of Arduino with Bluetooth Module and
a servo motor to rotate mops and clean the floor. They used
L293D motor driver in their research works to run the wheels
of their model. They have also included one ultrasonic sensor
in the research work for prior floor surveillance. The final
summary of their paper is to make it possible for users to
drive the cleaner towards dust-filled areas even by standing
far away. They had a mopping feature in the paper also. It
was most prominently projecting the Bluetooth navigation of
the cleaner in the published paper.
In [2], authors have worked on Ultrasonic Sensor
Assessment for Obstacle Avoidance in Quad copter-based
Drone Systems. Since this work is more related to ultrasonic
sensor usage for avoiding obstacles in the drone system,
though this work contains the development of a drone
system, it has so much reliability with obstacle avoidance in
the path using ultrasonic sensors. This paper speaks about
2022 International Conference on Advancements in Smart, Secure and Intelligent Computing (ASSIC) | 978-1-6654-6109-2/22/$31.00 ©2022 IEEE | DOI: 10.1109/ASSIC55218.2022.10088311
Authorized licensed use limited to: NATIONAL INSTITUTE OF TECHNOLOGY WARANGAL. Downloaded on May 01,2023 at 06:27:01 UTC from IEEE Xplore. Restrictions apply.
how ultrasonic sensors are reliable for obstacle avoidance.
Here they have achieved complete autonomy of the drone
using ultrasonic sensors. It is a direct reference, but it is
applied to a cleaner using Arduino-Uno, where this paper
shows the ultrasonic sensors connected with arduino pro
mini. In [3], the authors have worked collectively to develop
an autonomous solar-powered lawn mower using ultrasonic
sensors. The paper is about developing a fully automated
lawn mower machine using solar energy and ultrasonic
sensors to avoid any obstacles. The authors have used
Arduino-Uno m ic rocon tr oller to act as the center
component.
III. M
ETHODS
Fig.1 Arduino-Uno micro co nt ro lle r
For connecting all the further components like motor
drivers, and sensors in the circuit, they have materialized this
Thought to make lawn cleaning an easy task and even relax
the Human from doing these kinds of works in open places.
Fig.2 Arduino-Uno
Fig.1 and Fig.2 show the Arduino-Uno microcontroller
and Arduino-Uno board, respectively. Arduino-Uno board is
used as the center unit. The microcontroller connects all the
ultrasonic sensors and motor driver IC L293d to create
movement of the cleaner. The Arduino-Uno board’s receiver
and transmitter pins are also connected to the Bluetooth
module for user connectivity when required.
Fig.3 Solar Panel
Fig.3 shows the Solar panel. It absorbs sunlight and
converts the taken solar energy into electrical energy. We
used a solar panel having ten-watt output power with 12v
charging capacity. We have also kept a diode connected
with solar-battery wires to avoid reverse energy flow after
the battery's complete charging.
Fig.4 Ultrasonic sensor HC-SR04
Fig.4 shows the HC-SR04 Ultrasonic sensor. This sensor
is used to detect any presence of objects in front of it. We
used three ultrasonic sensors in our cleaner to detect all
round obstacles. This sensor works on producing an
ultrasonic burst (sound wave), and when an echo is heard by
the sensor back in reflection, it assumes the presence of some
obstacle. The Bluetooth Module is used as a connected
user mode of navigation besides fully automatic mode. It is
included in the circuit only to give the user the privilege to
navigate the cleaner to any desired location occasionally
when the user feels. The transmitter pin and receiver pin of
the arduino uno are connected to the receiver and transmitter
pins of HC-05. This way, we can control the cleaner's
controlling mode of operation.
Fig.5 12V battery
The Fig.5 shows the 12v rechargeable battery used in the
circuit which is charged using solar energy. The power from
this battery is given to the voltage regulator to supply it to
the driver IC L293D and further to the wheel motors.
Fig.6 Portable Vacuum Cleaner
Fig.6 shows the portable vacuum cleaner, which does the
cleaning part in the developed cleaner by sucking the dust on
the floor through the vacuum. This portable vacuum cleaner
runs on its batteries of two 1.5-volt batteries. The sucked
dust is collected in the bottom part of the cleaner.
Fig.7 L293D Motor Drive
Fig.7 shows the motor driver IC L293D which is
connected to both Arduino-Uno microcontroller and the
motors of the wheels. The motor driver IC takes care of
wheel movement, resulting in cleaner movement. The
methodology of this work includes analyzing the
requirements initially. The next step is designing the
connections and step-to-step connectivity analysis. The third
Authorized licensed use limited to: NATIONAL INSTITUTE OF TECHNOLOGY WARANGAL. Downloaded on May 01,2023 at 06:27:01 UTC from IEEE Xplore. Restrictions apply.
step is implementing and filing the results. The next step is
verifying it with the expected results and correcting the
results in case of any mismatches. In the process, we figured
out the block diagram which is shown in Fig.8.
Fig.8 Block Diagram
Solar panel’s positive and negative wires are
connected to the battery’s positive and negative terminals,
respectively, with a diode in between to direct the correct flow
of energy from the panel to the battery while charging. The
charged 12v battery is used to give supply voltage 5v to
Arduino-Uno, L293D motor driver IC. The L293D motor
driver connects the two-wheel motors kept for wheel
movements. Meanwhile, the portable vacuum cleaner set up
in the cleaner also does its cleaning part [11-17]. In our
research, there are two modes of operation: the controlling
mode of operation and the automatic mode of operation.
The controlling mode requires a Bluetooth module, whereas
the automatic mode doesn’t need additional support.
Obstacle avoidance is done automatically by the cleaner
itself. The pin diagram is shown in the Fig.9 below obstacle.
The Fig.9 shows the detailed pin connections followed in
the circuit. The three ultrasonic sensors are placed in the
same circular way with canter microcontroller as Arduino-
Uno. The connections from Arduino-Uno are drawn to
almost all the other components like motor driver IC, wheel
motors, Bluetooth module, Voltage Regulator and also to an
IR sensor used in the circuit for stair case detection. These
sensors are all used to detect obstacles in the path and avoid
them and clean the floor. The working flow of ultrasonic
sensor is shown in the Fig.10.
Fig.9 Detailed Pin Diagram
Fig.10 Ultrasonic sensor work flow
The three ultrasonic sensors are designed in three
different ways. Where, the front sensor, when it detects an
obstacle, will take a right. The left sensor takes a right if it
detects any obstacle, and the right takes a right to avoid the
loss [17-22].
IV. RESULT
AND
DISCUSSION
The Solar Panel is observed to charge the 12v battery
from 9.85v to 12v within 5-Hours of good sunlight. Figs.11
and 12 show how we changed our battery when it drained
from 10.5v to 12v.
Fig.11 Battery observed at 9.85v
The following figure i.e., Fig.11, is captured after leaving
this in reasonable sunlight for 5.5-Hours. The battery reading
was observed to be 12v. The developed model is prepared to
work as per the mentioned methodology. The arduino code is
written for ultrasonic sensors for obstacle avoidance. The
Arduino code is developed for running motors resulting in
wheel movement. The connection between HC-05 module
and Arduino makes it possible to navigate through Arduino
Bluetooth Controller application.
The battery used for creating the cleaner's movement is
charged using the solar panel. The solar panel is considered a
Authorized licensed use limited to: NATIONAL INSTITUTE OF TECHNOLOGY WARANGAL. Downloaded on May 01,2023 at 06:27:01 UTC from IEEE Xplore. Restrictions apply.
charger for the battery in the model. The ultrasonic sensor
reacts to the obstacles and takes an immediate counter-
movement in the automatic mode of the cleaner. Thus the
model is tested and can collect dust on the floor.
Fig.12 shows the model developed with wheels and
portable vacuum cleaner mounted first on the cleaner's base
with ultrasonic sensors circularly. The bottom picture of the
developed cleaner is shown in Fig.13. In this figure, the
vacuum bottom part is also visible, and the wheel mounting
at the bottom is shown. The developed cleaner looks as
shown in Fig.14, with a covered top and a battery and solar
panel switch.
Fig.12 Model with sensors mounted on base and portable vacuum cleaner
Fig.13 Bottom part of the cleaner
Fig.14 Completed picture of the cleaner.
V. CONCLUSION
The model is able to work and collect dust properly using
both automated and controlled modes of operation. The
developed model can be used as a floor cleaning assistant
during a power crisis. This cleaner helps in minimizing
human involvement, unlike traditional vacuum cleaners. It
avoids ‘plugin and use’ as it charges itself through its
solar panel. This cleaner is used for easy and relaxed
cleaning since it has two operation modes. The use of
innovative advancements reduces the cost significantly
and the human effort in floor cleaning. Small steps in
technological advancement like this will have a higher
impact in the long run in future. This system can further
be automated fully by including live monitoring to make
it fully hands-free from Human. By including live
monitoring, the cleaner itself checks for dust and
navigates itself with the help of ultrasonic sensors, and the
system can further be developed as a fully automated floor
cleaning tool which doesn’t even demand navigating
support like in the current model and does the cleaning
process by its own.
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