A

Minor Project Report

on

[HOUSEKEEPING ROBOT]
Submitted
To

CHHATTISGARH SWAMI VIVEKANAND TECHNICAL UNIVERSITY

BHILAI (C. G.), INDIA
in partial fulfillment
for
the award of Degree
of
Bachelor of Engineering
in
ELECTRONICS & TELECOMMUNICATION ENGINEERING
By
ABHISHEK DEY
ADITYA SINGH
RAVI CHAUHAN
SATYANAND

Under the esteemed guidance of

TIKESH GAJPAL
Assistant professer

DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION ENGINEERING

RAIPUR INSTITUTE OF TECHNOLOGY, RAIPUR
Chhatauna, Mandir Hasaud, Raipur, Chhattisgarh
Ph.: 0771-3208842, 3250790 Fax: 0771-2537634
Email: tikesh23@rit.edu.in

Session: 2018-2019
 CERTIFICATE

Thesis is to certify that the report of the project entitled “ HOUSEKEEPING

ROBOT “ is a record of project work carried out by

ABHISHEK DEY 3122815001 AR0027

ADITYA SINGH 3122815002 AR0030
RAVI CHAUHAN 3122815010 AR0069
SATYANAND 3122815013 AR0081
under my guidance and supervision for the award of Degree of Bachelor of Engineering
in Electronics & Telecommunication branch of Chhattisgarh Swami Vivekanand
Technical University, Bhilai (C.G.), India.

To the best of my knowledge ad belief the report

i) Embodies the work of the candidate himself,
ii) Has duly been completed,
iii) Fulfills the requirement of the Ordinance relating to the BE degree of the
University and
iv) Is up to the desired standard both in respect of contents and language for being
referred to the examiners.

(Signature of HOD) (Signature of Guide)

Name of HOD Name of Guide
Designation Designation
RITEE, Raipur RITEE, Raipur

Principal
RITEE, Raipur, Chhattisgarh
 CERTIFICATE BY THE EXAMINERS

The project report entitled “ housekepping robort” submitted by

ABHISHEK DEY 3122815001 AR0027

ADITYA SINGH 3122815002 AR0030
RAVI CHAUHAN 3122815010 AR0069
SATYANAND 3122815012 AR0081

has been examined by the undersigned as a part of the examination and hereby
recommended for the award of the degree of Bachelor of Engineering in Electronics &
Telecommunication branch of Chhattisgarh Swami Vivekanand Technical University,
Bhilai (C.G.), India.

………………… ………………..
Internal Examiner External Examiner
Date: Date:
 DECLARATION BY THE CANDIDATE

We the undersigned solemnly declare that the report of the project work entitled
housekepping robot” is based on our own work carried out during the course of our study
under the guide of Prof. Tekeshwar Gajpal, Department of Electronics
Telecommunication, RITEE, Raipur.

We assert that the statements made and conclusion drawn are an outcome of our
project work. We further declare that to the best of our knowledge and belief the report
does nor contain any part of any work which has been submitted for any award of
degree/diploma/certificate in this University or any other University of India or abroad.

ABHISHEK DEY 3122815001 AR0027

ADITYA SINGH 3122815002 AR0030

RAVI CHAUHAN 3122815010 AR0069

SATYANAND 3122815012 AR0081

 ACKNOWLEGEMENT

Words are often too less to reveal one’s deep regards. An understanding of the work like
this is never the outcome of the efforts of a single person. I take this opportunity to
express my profound sense of gratitude and respect to all those who helped me through
the duration of this training.
This work would not have been possible without the encouragement and able
guidance of ‘Prof. Tikeshwar GAJPAL. His/her constant motivating ideas and
optimism made this experience both rewarding and enjoyable.
I am also grateful to Prof. (Mr.) Ritesh Diwan , Head of the Department(ET&T),
for his active interest and encouragement for this training .I am also thankful to all my
faculties of RITEE, Friends and supportive staff, under their guidance and support i am
able to reach to my goal.

The guidance and support received from all the members of Management, especially to
my college Principal. I am grateful for their constant support and help.

Last but not the least I am really thankful to my family and friends for always
encouraging me to achieve this goal. A special thanks to my parents, who taught me
the value of hard work by their own example and who instilled me the free thoughts .

Submitted by
ABHISHEK DEY

ADITYA SINGH

RAVI CHAUHAN

SATYANAND

B.E. 7th Semester(ET&T)

RITEE, Raipur (C.G)
CONTENTS PAGE NO

1. Abstract

2. Introduction

3. Hardware

4. Controlling system

5. Precauionary Circuit

6. Project description

7. Conclusion

8. Image of project
CHAPTER-1
ABSTRACT
 CHAPTER-1

ABSTRACT
Human have evolved o better survive and have evolved heir invention. In today’s age

A large number of roborts are placed in many areas replacing manpower in severe or a

dangerous workplace. Moreover, he most important thing is to take care of this

technology for developing robot progresses.

This project proposed an autonomous moving system . Service robots are emerging from
the laboratory as commercial products. Floor cleaning, material transporting in radioactive
and other hostile environments and security robots are some of the facets of a service
robot. This paper focuses on one such service robot for housekeeping purposes, the
concept and a design aspect of the developed robot is presented. The design philosophy
that emphasizes compromise and practicality in design is being explained. This philosophy
is used in the design and integration of a housekeeping robot system and sensor systems to
provide new functionality for the user. The robot navigation problem is solved through a
hybrid sensor system. The developed robot system comprises of a mobile platform, hybrid
sensor system and a gripper system.
 CHAPTER-2
INTRODUCTION
 CHAPTER-2

INTRODUCTION

In recent years, robotic cleaners have taken major attention in robotics research due to
their effectiveness in assisting humans in floor cleaning applications at homes, hotels,
restaurants, offices, hospitals, workshops, warehouses and universities etc. Basically,
robotic cleaners 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. Each cleaning and operating
mechanism of robotic floor cleaners has its own advantages and disadvantages. For
example, robots utilizing laser mapping are relatively faster, less time consuming and
energy efficient but costly, while obstacle avoidance based robots are relatively time
consuming and less energy efficient due to random cleaning but less costly. Countries like
Pakistan are way back in manufacturing robotic cleaners. Importing them from abroad
increases their costs. The main objective of this work is to provide a substantial solution
to the problem of manufacturing robotic cleaner utilizing local resources while keeping it
low costs. In this work, “smart floor cleaning robot.

Proposeddesign is being oper(CLEAR)” has been designed for consumer/office

environments and its each ated in dual modes. In one of the modes, the robot is fully
autonomous and making decisions on the basis of the outputs of infrared proximity
sensors, ultrasonic sensors and tactile sensors after being processed by Arduino (mega)
controller and control the actuators (2 DC encoder motors) by the H-bridge driving
circuitry. In manual mode, the robot can also be used to clean a specific area of a room by
controlling it manually from laptop with a Graphical User Interface (GUI) in Visual Studio
(C# programming language) via Bluetooth connectivity.
 CHAPTER 3

HADWARE
1.Dppc switch
2.500 rpm motor
3. 5 pipes
4.Chechis bored
5.Connection wire
6.Soldaring machine
7.Motor driver
8.12 volt adapter
 CHAPTER-4
DPPC SWITCH
 CHAPTER-4

DPPC SWITCH
1. Motor Controllers

Motor controllers commonly known as H-Bridge, are used for driving motors in both
direction that is clockwise and counterclockwise with current rating of 15 A. This
controller consists of two parts. First part is to energize relays through Arduinocontroller
and drive motors while second part is for controlling the speed of motors. Relays are used
for switching purposes while transistors are used for speed control. Relays used in this
circuit have rating of 12V dc coil and 15A current while lead acid battery of a 12V and
1.2Ah rating. Since encoder motors have a stall current of 7A so for safe purpose 15A
relays have been used. Two diodes are implemented in fly back diode configuration. This
is a condition in which a diode is put in reverse state between battery terminals and is
commonly known as free-wheeling diode. At de-energizing of relay huge voltage is
produced in backward state and can damaged other components so to avoid this damage
a diode in fly back configuration is used along with relay..

A.Motor Controllers:
Motor controllers commonly known as H-Bridge, are used for driving motors in both
direction that is clockwise and counterclockwise with current rating of 15 A. This
controller consists of two parts. First part is to energize relays through
Arduinocontroller and drive motors while second part is for controlling the speed of
motors. Relays are used for switching purposes while transistors are used for speed
control. Relays used in this circuit have rating of 12V dc coil and 15A current while lead
acid battery of a 12V and 1.2Ah rating. Since encoder motors have a stall current of 7A
so for safe purpose 15A relays have been used. Two diodes are implemented in fly
back diode configuration. This is a condition in which a diode is put in reverse state
between battery terminals and is commonly known as free-wheeling diode.
B.Vacuum Cleaning Controller:
The circuit used for controlling of vacuum cleaner consists of one transistor, one relay,
one diode and two batteries. One Lead acid battery of 12V and 1.2Ah ratings is for
power controlling (ON/OFF) of vacuum cleaner by energizing coil of relay having diode
in a fly back position while one LIPO battery of 18V and 5Ah is for supplying power to
vacuum cleaner with different ground terminals to avoid short circuit currents

C. Brushing:
The circuit consists of two transistors. One transistor takes a signal from Arduino
controller and drives other transistor. Transistor which takes a signal is BJT 2N2222 and
other one is TIP-122. Circuit works on 12V DC supply connected through a switch and
fuse. Two transistors are used because single TIP- 122 has high current rating and
cannot be activated by Arduino directly. Transistor BJT 2N2222 is not used solely
because stall current of brush motor is much high and BJT will not provide necessary
current. So combination of these two gives a successful circuit to drive brush motor.

D.Precautionary Circuit:
This circuit serves as a main circuit consisting of bridge rectifiers, relays, transistors,
diodes, fuses, Positive voltage adjustable regulator, LEDs, terminal blocks, and slim
headers. This circuit consists of three parts. One is for motor battery safety and
regulation of voltage, second for circuit battery voltage safety and third is for
controlling motor battery through circuit battery and giving power to Arduino
controller. In first part, one relay with diode in fly back mode, one transistor, one fuse,
terminal blocks, one regulator and variable resistor are used. Firstly battery terminals
are connected to terminal block shorted with inputs of bridge rectifier that is KBPC
5040 having a voltage rating of 1000V and 50A. Bridge rectifier is used to keep the
supply voltage positive and secure the circuitsif the battery terminals are connected in
positive or negative direction. Signal from Arduino controller is given to transistor BJT
2N2222 which energizes relay and relay will allow motor voltage to go to fuse from
rectifier and then it will go to regulator input. Regulator used is LM338k which is
positive adjustable voltage regulator having a rating of 15A and can regulate voltage
from 12V to 6V. This regulator is used so that there will be no fluctuations in output
and motor works steadily. After adjusting voltage to 12V output will be shorted with
terminal block and that block is now used for battery output both for encoder motors
and brush motor. For more safety, fuse holders are used so that if there is any
shot circuiting occurs then it will not harm other components and fuse can easily be
changed. Fuse used is of 10A rating as stall current for encoder motor is 7A and for
brush motor stall current is 5A. LED along with resistor is placed just after regulator so
that to ensure whether voltage is reaching to output terminal or not. In second part
that is circuit battery safety consists of one relay with diode in fly back mode, one
transistor, one bridge rectifier, fuse, terminal block and LED.
 CHAPTER-5
500 RPM MOTOR
 CHAPTER-5

500 RPM MOTOR:

DC Motor - 500 RPM. 500 RPM 12 V DC geared motors for robotics applications.
Very easy to use and available in standard size. Nut and threads on shaft to easily
connect and internal threaded shaft for easily connecting it to wheel .

500 RPM MOTOR

1.How a Gear Motor Works?
A gear motor is a specific type of electrical motor that is designed to produce
high torque while maintaining a low horsepower, or low speed, motor output.
Gear motors can be found in many different applications, and are probably used
in many devices in your home.

Gear motors are commonly used in devices such as can openers, garage
dooropeners, washing machine time control knobs, and even electric alarm
clocks. Common commercial applications of a gear motor include hospital beds,
commercial jacks, and cranes. Regardless of what type of gear motor you’re
dealing with, they all work in the same manner.

2.Basic Principal of operation

A gear motor can be either an AC (alternating current) or a DC (direct current)
electric motor. Most gear motors have an output of 1,200 to 3,600 revolutions
per minute (RPMs). These types of motors also have two different speed
specifications: normal speed and the stall-speed torque specifications.

Gear motors are primarily used to reduce speed in a series of gears, which in
turn creates more torque. This is accomplished by an integrated series of gears
or a gearbox being attached to the main motor rotor and shaft via a second
reduction shaft. The second shaft is then connected to the series of gears or
gearbox to create what is known as a series of reduction gears. Generally
speaking, the longer the train of reduction gears, the lower the output of the
end, or final, gear will be.

3.Gear Motor and Increased Force

Gear motors are commonly used in commercial applications where a piece of
equipment needs to be able to exert a high amount of force in order to move a
very heavy object. Examples of these types of equipment would include a
crane or lift jack.If you've ever seen a crane in action, you've seen a great
example of how a gear motor works. As you have probably noticed, a crane
can be used to lift and move very heavy objects. The electric motor used in
most cranes is a type of gear motor that uses the basic principles of speed
reduction to increase torque or force
 CHAPTER-6
CONTROLLING SYSTEM
 CHAPTER-6

CONTROLLING SYSTEM

1. Parking (P):
It keeps the device in sleep mode in which all the circuitry of the device is switched
off. However, the Arduino board and the Bluetooth module are still active, so that the
device can respond to any command received from the user interface in the laptop .

2. Reverse (R):
It is the reverse gear, in which both motors are run in such a way that the robot
moves in the reverse direction. As discussed before, especially designed motor-
controllers are used for changing the direction of rotation of motors. These motor-
controllers also have the feasibility of speed control using Pulse Width Modulation
(PWM). A tone is introduced in case of reverse motion as mentioned by section: 4.5.3
of IEEE Std. 1621.

3. Neutral (N):
Neutral gear acts as the intermediate gear in which the robot is not moving in any
direction but still the circuitry is switch ON, waiting for the command from the user. It
is to be noted that the brush motor and vacuum pump can be kept ON in this state of
the device.

4. Drive (D):
Drive gear is the forward gear with full speed of the motor. The motors are
synchronized using PWM in the motor-controllers, so that both tires rotate at equal
speed. The synchronization of the motors in this way makes the robot move exactly in
the forward direction without any tilt in any other direction.
5. Low Gear (L):
Low gear is designed for effective cleaning of the floor. In this gear, the
robot moves in half of its full speed. However, the brush motor and vacuum
pump work at the same speed, so net cleaning efficiency of the device is
increased to the double of its normal efficiency. D. Scheduling of
Operations Another icon of calendar is available on the main GUI for
scheduling settings. A new GUI opens when the user clicks this icon. The
user has to select the date and time for setting the cleaning schedule of the
robot. Scheduling is done to avoid frequent unnecessary operation and
make it a routine so that whenever a wake event is called from a sleep
state, it manages its cleaning cycle itself in autonomous mode.
 CHAPTER-7
CHECHIS BORED
 CHAPTER-7

CHASSI BORED
The base of the body comprises of acrylic sheet, two encoder motors along
with Teflon tires having O-rings on them for avoiding friction, two ball casters
of adjustable height having frictionless steel balls, aluminum angular brackets
and aluminum holders for two lead acid batteries of 12V and 1.2Ah
rating.These motorsare independently powered and mounted diagonally and
two ball casters are placed at other diagonal of acrylic sheet so that motors
can move along its axis easily and bear more weight as compared to chain
mechanism. Cleaning assembly includes a DC geared motor, sprockets for
moving chain from geared motor to rotating brush and two aluminum rods for
supporting vacuum cleaner mechanism and dirt compartment. This DC geared
motor has been fitted on one side of acrylic sheet with aluminum holder and
sprockets installed with it which have been fitted into shaft of motor.
 CHAPTER-8
12 VOLT VOLTAGE
 CHAPTER-8

12 V DC VOLTAGE
 An AC adapter, AC/DC adapter, or AC/DC converter is a type of
external power supply, often enclosed in a case similar to an AC
plugs. Other common names include plug pack, plug-in
adapter, adapter block, domestic mains adapter, line power
adapter, wall wart, power brick, and power adapter. Adapters for
battery-powered equipment may be described
as chargers or rechargers. AC adapters are used with electrical
devices that require power but do not contain internal components to
derive the required voltage and power from mains power. The
internal circuitry of an external power supply is very similar to the
design that would be used for a built-in or internal supply.
 CHAPTER-9

Precautionary Circuit
 CHAPTER-9

Precautionary Circuit
This circuit serves as a main circuit consisting of bridge rectifiers, relays, transistors,
diodes, fuses, Positive voltage adjustable regulator, LEDs, terminal blocks, and slim
headers. This circuit consists of three parts. One is for motor battery safety and regulation
of voltage, second for circuit battery voltage safety and third is for controlling motor
battery through circuit battery and giving power to Arduino controller. In first part, one
relay with diode in fly back mode, one transistor, one fuse, terminal blocks, one regulator
and variable resistor are used. Firstly battery terminals are connected to terminal block
shorted with inputs of bridge rectifier that is KBPC 5040 having a voltage rating of 1000V
and 50A. Bridge rectifier is used to keep the supply voltage positive and secure the
circuitsif the battery terminals are connected in positive or negative direction. Signal from
Arduino controller is given to transistor BJT 2N2222 which energizes relay and relay will
allow motor voltage to go to fuse from rectifier and then it will go to regulator input.
Regulator used is LM338k which is positive adjustable voltage regulator having a rating of
15A and can regulate voltage from 12V to 6V. This regulator is used so that there will be
no fluctuations in output and motor works steadily. After adjusting voltage to 12V output
will be shorted with terminal block and that block is now used for battery output both for
encoder motors and brush motor. For more safety, fuse holders are used so that if there is
any shot circuiting occurs then it will not harm other components and fuse can easily be
changed. Fuse used is of 10A rating as stall current for encoder motor is 7A and for brush
motor stall current is 5A. LED along with resistor is placed just after regulator so that to
ensure whether voltage is reaching to output terminal or not. In second part that is circuit
battery safety consists of one relay with diode in fly back mode, one transistor, one bridge
rectifier, fuse, terminal block and LED.
 CHAPTER-10
PROJECT DESCRIPTION
 CHAPTER-10

PROJECT DESCRIPTION

The objective of this project is to make a vacuum cleaning robot which is fully
autonomous and manual featured with user friendly interface. The vacuum cleaner is
able to clean, brush and auto dispose-off. The robot named as CLEAR (cleaning entresol
autonomous robot), it has variable speed and power efficient. The testing of the robot
showed that it can achieve almost all the functionalities which were planned to
implement originally. CLEAR can be used in autonomous and manual modes as per user’s
will. During its autonomous mode, this robot can be scheduled with a proper date and
time. When that time comes this product automatically starts and cleans the whole room
and counter check pattern. When this robot completes the whole path it automatically
cleans itself in the station from where it started cleaning. Moreover, manual mode is to
save the energy of the robot and to clean the particular place. 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. Vacuum cleaner has the reliable circuitry
CHAPTER-11
CONCLUSION
 CHAPTER-11
CONCLUSION
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 india market.
This robot (CLEAR) is specially made on the basis of modern technology. CLEAR has all the
features which are required for a vacuum cleaner. It can work automatically and
manually. It has the feature of the scheduling and it can auto drain itself. CLEAR has many
competitors who are selling same product in high prices. Features of this robot can be
enhanced with addition of mapping and high suction. As it has scheduling feature which
can be operated with computer only, android and windows app can be made to make it
little more user friendly. . It can also be used for the industries where cleaning with the
help of human is toxic, vacuum cleaner can easily be used.
 CHAPTER-12
IMAGE OF PROGECT
 CHAPTER-12
Image of project