Autonomous cleaning
robot is designed to perform tasks like sweeping and mopping in a single pass.
All mechanisms will work simultaneously and clean the floor autonomously
according to a default pattern i.e. a square wave like pattern which can cover
a complete area with obstacles. The Autonomous cleaning robot consists of a
ATmega8 microcontroller board, two 12v DC motors, two 9v DC motors, a
ultrasonic sensor, a pair of infrared sensor, a castor wheel, a rolling brush,
a rolling sponge, a dust collector, a waste water collector, a clean water
tank, a water dropping pipe and two 12v batteries.
The ultrasonic/Ping
sensor and a pair of infrared sensors are used for obstacle detection which is
used in path planning and navigation by the ATmega8 microcontroller, depending
on the input from the sensors the microcontroller sends the signal to a on
board L298 motor driver which then controls the two 12v DC motors to make the
robot move in the defined square wave pattern.
The rolling brush
and the rolling sponge are attached to 9v DC motors controlled by a 7809
voltage converter, the brush is rotated in the direction of motion of robot so
that all the waste, dust which comes in the path of the robot is pushed into a
dust collector which is removable, once the dust is collected in the dust
collector it can be thrown out and the clean dust collector can be placed in
the position again. Unlike the brush the sponge is rotated in a direction
opposite to the motion of robot which scrubs the floor and absorbs the dirty
water from the floor which is poured by a clean water tank with help of a pipe,
this dirty water
Absorbed by the
sponge is collected in a waste water tank which can be poured out once the
cleaning is done.
The body of the
robot is made up of transparent acrylic sheet which makes the body of robot
harder and the transparency provides easy troubleshooting, the circular shape
of the robot provides easy turnings at corners.
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