Smart Floor Cleaning Robot (CLEAR) Uman Khalid1, Muhammad Faizan Baloch1, Haseeb Haider1, Muhammad Usman Sardar1, Muhammad Faisal Khan1,2, Abdul Basit Zia1 and Tahseen Amin Khan Qasuria1 1Faculty of Electronic Engineering, Ghulam Ishaq Khan Institute of Engineering Sciences and Technology, Pakistan 2Hamdard Institute of Engineering & Technology, Hamdard University, Karachi, Pakistan [email protected], [email protected], [email protected], [email protected] [email protected], [email protected], [email protected] Abstract—With the advancement of technology, robots are the mechanical design of robotincluding chassis design, brushing, getting more attention of researchers to make life of mankind vacuum cleaning mechanism and auto-dirt disposal comfortable. This paper presents the design, development and mechanism.Electronic circuitry (including motor controllers, vacuum fabrication of prototype Smart Floor Cleaning Robot (CLEAR) cleaner controller, battery status meters and brushing motor controller using IEEE Standard 1621 (IEEE Standard for User Interface along with safety circuit for power supply to sensors, arduino Elements in Power Control of Electronic Devices employed in controller as well as precautionary circuit) is discussed in Section Office/Consumer Environments). Subject robot operates V.Graphical User Interface (GUI) of the project and robot operation inautonomous mode as well as in manual mode along with are discussed in Section VI and VII respectively. All these sections additional features like scheduling for specific time and bagless describe their relevance to the application of IEEE Standard 1621. dirt container withauto-dirt disposal mechanism. This work can Conclusions of the project are summarized in Section VIII. be very useful in improving life style of mankind. IndexTerms—Autonomous roaming, manual control, power II. STANDARD APPLIED status indications, power controls, power efficient, cleaning robot. The standard being applied is IEEE Std 1621™-2004(R2009) “IEEE Standard for User Interface Elements in Power Control of Electronic I. INTRODUCTION Devices Employed in Office/Consumer Environments” for the design In recent years, robotic cleaners have taken major attention in and fabrication of “Smart Floor Cleaning Robot”. IEEE Standard robotics research due to their effectiveness in assisting humans in 1621 enabled authors to learn and implement basic power & control floor cleaning applications at homes, hotels, restaurants, offices, mechanism for subject robot, thus making it user friendly. The mode hospitals, workshops, warehouses and universities etc. Basically, of implementation of IEEE Standard 1621 is discussed in detail in robotic cleaners are distinguished on their cleaning expertise like later sections. 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 III. LITERATURE REVIEW robotic floor cleaners has its own advantages and disadvantages. For A robotic vacuum cleaner is an autonomous electronic device that is example, robots utilizing laser mapping are relatively faster, less time intelligently programed to clean a specific area through a vacuum consuming and energy efficient but costly, while obstacle avoidance cleaning assembly. Some of the available products can brush around based robots are relatively time consuming and less energy efficient sharp edges and corners while others include a number of additional due to random cleaning but less costly. Countries like Pakistan are features such as wet mopping and UV sterilization rather than way back in manufacturing robotic cleaners. Importing them from vacuuming. Some of the available products are discussed below. 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. A. iRobot[2] In this work, “smart floor cleaning robot (CLEAR)” has been In 2002, iRobot launched its first floor vacuum cleaner robot named designed for consumer/office environments and its each component Roomba. Initially, iRobot decided to manufacture limited number of in accordance with IEEE Standard is discussed.Proposeddesign is units but Roomba immediately became a huge consumer sensation. being operated in dual modes. In one of the modes, the robot is fully Due to its increased market demand, a series of following robots have autonomous and making decisions on the basis of the outputs of been launched in the market: 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 1. Roomba manual mode, the robot can also be used to clean a specific area of a • Launch Date: 2002 room by controlling it manually from laptop with a Graphical User • Manufacturer: iRobot (American) Interface (GUI) in Visual Studio (C# programming language) via Bluetooth connectivity. • Type of Use: Dry Vacuum • Technology: IR, RF and auto-charging mechanism This paper is arranged in eight sections. IEEE standard used in this • Price: $500 project is discussed in Section II. A detailed literature review of robotic vacuum cleaners is presented in Section III. Section IV covers Copyright 2015 Uman Khalid, Muhammad Faizan Baloch, Haseeb Haider, Muhammad Usman Sardar, Muhammad Faisal Khan, Abdul Basit Zia and Tahseen Amin Khan Qasuria 2. Scooba TABLEI. COMPARISON OF CLEAR WITH AVAILABLE PRODUCTS • Launch Date: 2005 [6]. • Manufacturer: iRobot (American) ROBOTS • Type of Use: Wet Washing of Floor NEATO • Technology: IR with virtual wall accessories FEATURES ROOMBA CLEAR -XV • Price: $500 Operating time 1.5 2 1.2 (hr) 3. Braava Charging time 3 4 2 • Launch Date: 2006 (hr) • Manufacturer: iRobot, KITECH, Sony Scheduling Yes Yes Yes • Type of Use: Floor moping for hard surfaces/Dry clean • Technology: IR with virtual wall accessories for industrial cleaning Battery Yes Yes Yes • Price: $700 indicators Full-bin indicators Yes Yes Yes B. NEATO Robotics[3] With the advent of robotic vacuum cleaners, many countries had Remote control Yes Yes Yes started manufacturing robotic cleaners. China also started manufacturing these robots with more reliable technology and Return to base No No Yes advanced features. 1. Neato XV-11 D. Comparison with previous Patented Devices • Launch Date: 2010 A detailed comparison of previous patented robotic vacuumcleaners with CLEAR on the basis of main featuresof control mechanism like • Manufacturer: Neato-Robots XV series (California)/China automatic or manual mode and cleaning expertise like dry vacuum • Type of Use: Vacuum Cleaning cleaning or mopping along with additional features like bag-less • Technology: Laser range finder technology, SLAM (Simultaneous container etc. is summarized in Table II. localization and mapping) and auto-charging • Price: $399 TABLEII.COMPARISON OF CLEAR WITH PATENTS. SALIENT ‘CLEAR’ C. Dyson[4] PATENTS FEATURES FEATURES In 2001, Dyson built a robot vacuum known as DC06 which was Autonomous motion This robot is never released to the market due to its high price. In 2014, Dyson using IR sensor autonomous and can launched a new product named as Dyson 360 Eye which uses a mechanism and be remotely different technology for path finding as compared to products manually controlled controlled. manufactured by NEATO Robotics or iRobot. via GUI controls. Autonomous floor mopping apparatus[7] A feed rolle r lets out 1. EYE-360[5 ] US-6,741,054 a roll toweling, take- • Launch Date: 2016 up roller reels in the Simple roller toweling, and a brushing and • Manufacturer: Dyson (UK) motor system causes vacuuming. • Type of Use: Vacuum Cleaning it to rotate while • Technology: It uses a 360 degree panoramic vision camera to robot moves. monitor its environment in real time and a turbo brush for efficient Self-adjusting cleaning along with an auto-charging mechanism (Benchmark in cleaning head with history of cleaning robots) brush assembly Simple roller • Price: $1000 (approx.) having counter- brushing. rotating, asymmetric brushes. A comparison of proposed robot CLEAR with the top selling robotic Autonomous floor- Independent, cleaners in international market on the basis of general specifications [8] like operating time, charging time, scheduling, floor type, battery cleaning robot vacuum assembly so indicators and navigation features is summarized in Table I. US-6883201 B2 that the cleaning Separate vacuum capability and assembly. efficiency is optimized. A removable dust Dirt compartment cartridge. with auto-disposal. A control system, in Autonomous motion Copyright 2015 Uman Khalid, Muhammad Faizan Baloch, Haseeb Haider, Muhammad Usman Sardar, Muhammad Faisal Khan, Abdul Basit Zia and Tahseen Amin Khan Qasuria communication with using IR sensor the motive system mechanism and having feedback manually controlled IV. MECHANICAL DESIGN OF CLEAR from sensors. via GUI controls. The robot chassis carries cleaning elements to suck particles up from the A roller brush cleaning surface and brooming the dirt apply a cleaning into dirt fluid onto the surface compartment aided to collect the by a vacuum cleaner. cleaning fluid up Autonomous surface from the surface cleaning robot for using a rotating wet and dry sponge. cleaning[9] US- The robot includes Figure 1.Mechanical Design of CLEAR. 7,389,156 Autonomous motion controls