1 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

VISVESVARAYA TECHNOLOGICAL UNIVERSITY,

BELAGAVI.

PROJECT REPORT

on

“SMART VACUUM CLEANER”

Submitted in partial fulfilment of the requirements for the award of

BACHELOR OF ENGINEERING

IN

ELECTRONICS AND COMMUNICATION ENGINEERING

For the academic year 2019-2020

Submitted by

ANANYA (1CR16EC013)

ANUPAM MISHRA (1CR16EC017)

KAMAL KRISHNA SHRIVASTAV (1CR16EC059)

Under the guidance of

Mrs. SUSHMA B.

Asst. Professor

Dept. Of ECE, CMRIT

2019-2020

Department Of Electronics and Communication Engineering

CMR INSTITUTE OF TECHNOLOGY, Bangalore - 560 037

2 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

CERTIFICATE

This is to Certify that the dissertation work “Smart Vacuum Cleaner” carried out by Ananya

(1cr16ec013) ,Anupam Mishra (1cre16ec017) ,Kamal Krishna Shrivastava (1cr16ec059) bonafide

students of CMRIT in partial fulfillment for the award of Bachelor of Engineering in Electronics

and Communication Engineering of the Visvesvaraya Technological University, Belagavi, during

the academic year 2019-20. It is certified that all corrections/suggestions indicated for internal

assessment have been incorporated in the report deposited in the departmental library. The project

report has been approved as it satisfies the academic requirements in respect of Project work prescribed

for the said degree.

Signature of Guide Signature of HOD Signature of Principal

SUSHMA.B

Asst. Professor,

Dr. R. Elumalai

Head of the Department,

Dr. Sanjay Jain

Principal,

Dept. of ECE., Dept. of ECE., CMRIT,

CMRIT, Bengaluru. CMRIT, Bengaluru. Bengaluru.

External Viva

Name of Examiners Signature & date

3 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

ABSTRACT

Today households devices are becoming smarter and more automated. Home automation

delivers convenience and creates more time for people. Domestic robots are entering homes

and people’s daily lives, but it is yet a relatively new and immature market. However, growth

is predicted and the adoption of domestic robots is evolving. This work can be very useful in

improving life style of mankind.

Our aim is to design the automatic vacuum cleaner that will help to make household work

convenient and much easier. It operates in automatic mode as well as in manual mode

along with additional features like scheduling for specific time and dirt container with auto-

dirt disposal mechanism. The flexibility, time saving and efficiency make the robot a good

choice for cleaning the floor.

Automatic vacuum cleaners use open cv (Image based processing), raspberry pi camera, dc

motor and control driver and node mcu, ultrasonic sensor. It also contains mop for wet

cleaning, autonomously vacuuming and wet-mopping a floor in one pass (sweep and mop

combo). By using image processing technique our vacuum cleaner is able to detect obstacle

and able to find correct path for proper cleaning of floor. Vacuum cleaner is of truncated

shape .It uses image processing which has several criteria that makes it user-friendly.

4 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

ACKNOWLEDGEMENT

The satisfaction that accompanies the successful completion of any task would be

incomplete without mentioning the people whose proper guidance and encouragement

has served as a beacon and crowned my efforts with success. We take an opportunity

to thank all the distinguished personalities for their enormous and precious support

and encouragement throughout the duration of this seminar.

We take this opportunity to express our sincere gratitude and respect to CMR

Institute of Technology, Bangalore for providing us an opportunity to carry out our

project work.

We have a great pleasure in expressing our deep sense of gratitude to Dr. Sanjay

Jain, Principal, CMRIT, Bangalore, for his constant encouragement.

With profound sense of gratitude, we acknowledge the guidance and support extended

by Dr. Elumalai R, HoD, and Mrs. Sushma B., Asst. Professor, Department of

Electronics and communication Engineering, CMRIT, Bangalore. Their incessant

encouragement and invaluable technical support have been of immense help in

realizing this project work. Their guidance gave us the environment to enhance our

knowledge, skills and to reach the pinnacle with sheer determination, dedication and

hard work.

We also extend our thanks to the faculties of Electronics and communication

Department who directly or indirectly encouraged us throughout the course of project

work.

We also thank our parents and friends for all their moral support they have given us

during the completion of this work.

5 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CONTENTS

1) Introduction… ................................................................... 7-8

2) Literature survey… ........................................................... 9-13

3) Motivation. .......................................................................... 14

4) Objective .............................................................................. 15

5) Methodology… ................................................................. 16

3.1) Hardware methodology ...................................... 16-35

3.2) Software methodology ........................................36-39

6) Result ........................................................... 40-41

7) Reference ............................................................................ 43

6 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

LIST OF FIGURE

Page no

Fig 1 Automatic Vacuum Cleaner Model 8

Fig 2.1 Mechanical Design of Clear 10

Fig 5.2.1 Working of Automatic Vacuum Cleaner 17

Fig 5.1 DC Gear Motor 19

Fig 5.5.2 L298 Motor Driver Module 20

Fig 5.5.3 Node MCU 22

Fig 5.5.3.1 Node MCU Pin Configuration 23

Fig 5.5.4 Raspberry PI 3b 26

Fig 5.5.5 Raspberry PI Camera V2 27

Fig 5.5.6 Battery 29

Fig 5.5.7 Wheel 30

Fig 5.5.8 Ultra Sonic Sensor 32

Fig 5.5.10 MOP 35

Fig 5.5.11 Small Water Tank 35

Fig 5.6.6.1 Candy Edge Detection 38

Fig 5.6.6.2 Hysteresis Graph 39

Fig 6 Axial Representation of Automatic Vacuum Cleaner 40

7 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CHAPTER-1 INTRODUCTION

In today life, time management is considered as one of the most important factors. A very

notable household chore is floor cleaning which is often considered as difficult and

boring job. In most cases, cleaners are hired to do the task rather than the household residents

do it. The discomfort posed by this recurrent chore necessitated development of a vacuum

cleaner that could assist human with such a task. A vacuum cleaner is an electromechanical

appliance commonly used for cleaning floors, furniture, rugs and carpets by suction. An

electric motor inside the appliance turns a fan which creates a partial vacuum and causes

outside air to rush into the evacuated space. This forces any dirt or dust near the nozzle into a

bag inside the machine or attached to the outside.

The demand to reduce manpower level has led to the design and development of automatic

control systems, which enables unattended operations of the machinery. The current

automatic integrated systems cover all aspects of Automatic vacuum cleaner operations.

Current vacuum cleaners, although efficient, are rather bulky and therefore require large

manpower for proper functioning. The former vacuum cleaners use to generate suction and

gathered dust with a rotating brush, the latter worked with a belt driven by hand-cranked fan

making it awkward to operate. In the late 1990s and early 2000s, more efficient sweepers

equipped with limited suction power were developed. Depending on the design

target, robotics vacuum cleaners are appropriate for offices, hotels, hospitals and homes.

However, most cheap cleaners need a better cleaning pattern algorithm for efficient

functioning while the smart ones are rather costly, and thus beyond the reach of most homes.

These challenges were carefully considered while designing the vacuum cleaner. The

Automatic vacuum fig.1.1.

8 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

Fig 1 Automatic Vacuum Cleaner Model

The current robot vacuum cleaner was fabricated from computer scraps, ultrasonic sensor and

a NODEMECU 8266 microcontroller making it relatively cheap. It navigates rooms using a

patterned algorithm and its cleaning mechanism is enhanced by two rotating sweepers placed

side by side. Its truncated shape has been carefully considered in the design of the sweepers

while its effectiveness was evaluated.

The robot is designed keeping in mind following modules of operation:

cleaning mechanism

directional control with automatic obstacle avoidance

less space consuming

avoid falling from certain height

9 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CHAPTER-2

LITERATURE SURVEY

We have done comprehensive study of latest technological trends and efficient systems. We

have undertaken extensive literature survey to study automatic vacuum cleaner parameters,

such as sensors, raspberry pi module, raspberry pi camera and how to connect raspberry pi

with NodeMcu. A well-planned literature survey has ensured availability of information for

efficient system performance, technology usage, specialization and management of available

resources. IOT based systems are also studied for automatic vacuum cleaner system.

Our study includes the current knowledge, findings, as well as theoretical and

methodological contributions for development of automatic vacuum cleaner using image

processing. It involves concept development, which is a set of activities carried out in the

system engineering to collect parameters of operational needs and develop suitable system for

implementation.

Design of smart vacuum cleaner which are available in the market are using Arduino Uno,

Motor, Ultrasonic Sensor, and IR Sensor in order to achieve the goal of cleaning process.

Vacuum cleaner Robots have several criteria that are user-friendly.

An autonomous vacuum cleaner robot are able to randomly navigate through a room or a

house with the minimum human assistance, the following specifications that are found:

Obstacle avoidance

Floor avoidance

Collision Detection

Dry cleaning

Wet cleaning

Status display

Automatic system

Four motors are used for the purpose like movement of robot, water pump. Relays are used

to drive the water pump and cleaner motor. LM293D IC are used to drive wheel motor. All

10 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

the information are displayed on LCD. These specifications correspond to some of the

expected behaviours that will be programmed into the robot.

It consists of four dedicated wipers that are attached to the platform. Among them, one of the

wipers is cylindrical and the others are flat in geometry. The flat wipers are symmetrically

placed at the bottom of the Platform arranged in ‘V’ shape so as to ensure efficient cleaning

and collection of dust. The roller wipers are placed at the end of the platform using proper

links and a driver motor. The cleaning is made efficient using wet wiping system. This

system employs a small bottle that carries water in it. This ensures a complete cleaning of the

surface. Only the wipers in the front are made wet. This ensures that the wiper from the back

remove the water from the surface [1].

Now a days, robot operates in autonomous mode as well as in manual mode along with

additional features like scheduling for specific time and bagless dirt container with auto-dirt

disposal mechanism. This work can be very useful in improving life style of mankind.

Proposed design is being operated 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.

The following figure shows the working model of CLEAR:

Fig.2.1 Mechanical Design Of CLEAR

11 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

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, aluminium angular brackets and aluminium holders for two lead acid

batteries of 12V and 1.2Ah rating. Cleaning assembly includes a DC geared motor, sprockets

for moving chain from geared motor to rotating brush and two aluminium rods for supporting

vacuum cleaner mechanism and dirt compartment. This DC geared motor has been fitted on

one side of acrylic sheet with aluminium holder and sprockets installed with it which have

been fitted into shaft of motor. All components are installed on lower side of acrylic sheet so

that center of gravity should be lower and robot would be stable[2].

In some of the vacuum cleaners, all hardware and software operations are controlled by

AT89S52 micro-controller. RF modules have been used for wireless communication

between remote (manual mode) and robot and having range 50m. This robot is incorporated

with IR sensor for obstacle detection and automatic water sprayer pump. Four motors are

used, two for cleaning, one for water pump and one for wheels. Dual relay circuit used to

drive the motors one for water pump and another for cleaner. In the automatic mode robot

control all the operations itself and change the lane in case of hurdle detection and moves

back. In the manual mode, the keypad is used to perform the expected task and to operate

robot. RF module has been used to transmit and receive the information between remote and

robot and display the information related to the hurdle detection on LCD. The whole circuitry

is connected with 12V battery.

Unlike other floor cleaner robots this is not a vacuum cleaner robot; it performs sweeping and

mopping operation. Detachable mop is used for mopping. In the automatic mode, robot

performs all operations itself. Firstly, robot starts, it moves forward and perform cleaning

action. For obstacle detection and to avoid hurdle IR sensors have been used.

If any hurdle is detected then robot change the lane automatically, does not stop and starts

cleaning action. It follows zigzag path.

For user convenience automatic water sprayer is attached which automatically spray water

for mopping, therefore no need to attach wet cloth again and again for mopping.Four motors

have been used to perform respected operations like to move the robot, for water pump and

for cleaner.

Relays are used to drive the water pump and cleaner motor. LM293D IC is used to drive

wheel motor.

12 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

All the information are displayed on LCD. In the manual mode, user itself operates the robot.

RF module have been used to transmit and receive the signal to operate the robot through

remote. In the manual mode, if any hurdle is detected, then signal of hurdle detection is

displayed on the LCD of remote via RF module[3].

All the information displayed on LCD. In the manual mode, user itself operates the robot. RF

module have been used to transmit and receive the signal to operate the robot through remote.

In the manual mode, if any hurdle detected, then signal of hurdle detection displayed on the

LCD of remote via RF module.

In the following research paper which we have studied for the reference and help for our

project uses following sensors:

OBSTACLE SENSORS

CLIFF SENSORS

WALL SENSORS

WHEEL SENSORS

Obstacle sensors: From a robot vacuum’s point of view, our homes are an obstacle course of

chair legs, coffee tables, sofas, and stray toys. Sensors located on or near the vacuum’s

shock-absorbing bumpers allow it to steer through these obstructions without getting slowed

down. When the bumper impacts an object, the sensor is triggered and the robot vacuum

knows to turn and move away until it finds a clear path. Which direction it takes is

determined by where the bumper makes contact. If a vacuum hit an object with the left side

of its bumper, for example, it will generally turn right because it has determined the object to

be to its left. But maneuvering around objects can often leave swaths of floor uncleaned. To

minimize this, some manufacturers take—literally—different approaches to obstacles. An

iRobot Roomba, for example, will slow down as its approaches an obstacle. “The advantage

of Roomba is that we gently touch objects, because what we find is that you can push through

soft objects like curtains and bed skirts,” said iRobot’s director of product management Ken

Bazydola. “That gives you better coverage.”

Cliff sensors: Stairs are perhaps the biggest peril for robot vacuums; a tumble could damage

the vacuum and anyone in its path. Because of this, cliff sensors are a safety requirement on

all robot vacuums. They measure the distance to the floor by constantly sending infrared

13 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

signals to its surface. If the signals don’t immediately bounce back, the robot surmises it has

reached a stair or some other “cliff” and will change direction.

Wall sensors: This sensor help in detecting walls, again using infrared light, so they can

follow along them. This allows them to clean along the edges where the wall meets the floor.

Best of all, it allows them to do it without bumping and scuffing the wall as we often do with

stand up vacuums. In models with mapping capabilities, wall sensors can also help the

vacuum to follow around open doorways and discover new areas to clean.

Wheel sensors: A robot vacuum uses light sensors to measure wheel rotation. With this

number and the wheel circumference, it can calculate how far it has traveled. At one time,

sensor navigation was the way all robot vacuums worked. Today it’s mostly limited to

manufacturer’s lower-end models, because though it’s effective, it’s not particularly efficient.

Because these robot vacuums react to sensory input, they tend to grope their way through a

room, vacuuming in haphazard paths. In order to get complete coverage and clean every area

at least once they’ll take multiple passes over a room in whatever time their battery life

allows. In our tests, this usually meant longer vacuuming times and, in the case of larger

rooms, uneven cleaning as some areas got more attention than others.

“Since all the previous projects mentioned above follow zig-zag path where we cannot

predict whether our vacuum cleaner has cleaned our room completely or not”.

Whereas in our proposed work we can conform ourselves that our floor has been cleaned by

vacuum cleaner completely because in our project we will be using range of interest which

will help our vacuum cleaner in determining the obstacles and selecting proper path to move.

[4]

14 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CHAPTER-3

MOTIVATION

The motivation to undertake this project is to hone professional skills in software

development and integration with hardware. The work has been undertaken with the usage of

state of the art technology to meet the project objectives.

The IOT based project entitled “SMART VACUUM CLEANER” is selected

because, this is a specialized field and we can explore individual research attitude, analytical,

numerical and experimental skills. During the project work, we could explore individual

technical skills, knowledge, creativity and practical application of theoretical studies. It gave

opportunity to learn from the best engineers, in encouraging working environment. The

successful design and development of the project has fulfilled desired motivational objective

for the team members.

As a learning value, at the workplace, over view of component and systems

functioning and its design process was provided including physical demonstration of each sub

part. It was allowed to interact with engineers working on these systems and components, and

see various facilities, used for design, development, integration and testing purpose. It has

assisted individual in gaining valuable real work experience. It was possible to get insight

into the way technical business activities take place and challenges faced on daily basis. It

has provided opportunities to explore technical interest and develop professional skills and

competencies for the individual. It has provided opportunity to learn balance between office

work, college study and social life, thus capability to handle more responsibilities.

During the project work, we could apply academic knowledge and concepts in to real

life professional environment. Overall, this project work, provided necessary technical skills

and professional experience, which is essential for a successful engineer and career

development. The project has helped, learn resolving practical problems encountered during

applicability of academic knowledge in real technical world to design, develop, integrate,

fabricate and assess its functionality.

15 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CHAPTER -4

OBJECTIVE

Objective of this project is to design and develop IOT based smart vacuum cleaner, that will

help to make household work convenient and much easier.

In this project new type of home intelligent cleaner adopted the ultrasonic sensor , which

has the function of the real-time environment perception, is introduced, and this cleaner

driven by dc motor has the ability of autonomous working by itself and the functions of the

automatic detection and obstacle avoidance. This project adopts open CV technique for

floor coverage task, and designs synthesis detection system based on sensor arrays finding

method technology according to algorithm characteristics, experimental results for obstacle

detection by static finding indicates that the design detection systems improves cleaning

robot’s environment perception and path search ability greatly.

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. asically, 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.

16 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CHAPTER- 5

METHODOLOGY

The project technology and components were elaborately discussed and plan made for

implementation. Detailed study of requirements and functioning of various existing systems,

components and its sub parts was undertaken for defining project methodology. Available

technical literature and interaction with engineers working on these systems and components

were carried out for finalization of efficient design at minimum cost and least time frame.

5.1 PROBLEM DEFINITION

Households of today are becoming smarter and more automated. Home automation delivers

convenience and creates more time for people. Domestic robots are entering homes and

people’s daily lives, but it is yet a relatively new and immature market. However, growth is

predicted and the adoption of domestic robots is evolving. This work can be very useful in

improving life style of mankind.

Our aim is to design the Automatic vacuum cleaner that will help to make household work

convenient and much easier. It operates in autonomous mode as well as in manual mode

along with additional features like scheduling for specific time and dirt container with auto-

dirt disposal mechanism. The flexibility, time saving and efficiency make the robot a clean

choice for cleaning the floor

5.2 PROJECT METHODOLOGY

The methodology of the project implementation is to design and develop the smart

vacuum cleaner, based on node mcu and machine learning using open cv technique to assess

its functional efficency. The validity of project concept is required to be demonstrated by

using hardware components, required software and integrating it all to fabricate a functioning

model.

17 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

Fig 5.2.1. Working Of Automatic Vacuum Cleaner

The edge of the floor is sensed as input by Raspberry Pi camera which later on undergo

processing in Raspberry Pi Module, in which the edge of the floor is detected and this is done

with the help of Open Source Software, and it also help in the proper movement of the

vacuum cleaner.

The wheels and wipers are the output of the real time system proposed above.

The Wheel is connected to DC geared motor which is driven by DC Motor Driver. The DC

Motor is being rotated as per the code fed in NODEMCU 8266 and a result of which the

wheels are moving in the sensed direction.

The sprinklers and wipers are also attached to the proposed model in which when the wheels

are moving in any particular direction of the floor, the floor under the vacuum cleaner model

also gets cleaned up with the help of wipers and sprinklers are used to pour water at the time

of cleaning the floor by wipers.

18 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

5.3 PROJECT TECHNOLOGY

Apart from basic engineering knowledge , certain technologies cover Arduino,

NODEMCU, IOT, artifical intelligence, control system, sensors , machine learning,

raspberry pi module, which is used for the project implementation .

5.3.1 SENSORS

Sensor is a device, which detects or measures a physical property and records,

indicates, or otherwise responds to it. It is used to detect and respond to electrical

or optical signals. It converts the physical parameter like temperature, pressure, humidity,

speed etc, into a signal which can be measured electrically.

sensors which we used in this project is:

UltraSonic Sensor

5.3.2 IOT

An IOT system consists of sensors/devices which “talk” to the cloud through some

kind of connectivity. Once the data gets to the cloud, software processes it and then might

decide to perform an action, such as sending an alert or automatically adjusting the

sensors/devices without the need for the user.

5.4 PROJECT IMPLEMENTATION

The project has combination of software and hardware components. The hardware

used is Raspberry pi module and NODEMCU board which interfaced with sensors like

Ultrasonic sensor, Raspberry Pi camera module , Dc Motor and LCD wheel. Arduino

program for hardware integration is developed to process and transmit sensor signals for the

display. The communication device used is a NODEMCU which has in-built wifi module in

it.

5.5. PROJECT HARDWARE

Various components used and working principles of the project hardware are

described in succeeding paragraphs.

19 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

5.5.1 DC MOTOR

A DC motor is any of a class of rotary electrical machines that converts direct current

electrical energy into mechanical energy. The most common types rely on the forces

produced by magnetic fields. Nearly all types of DC motors have some internal mechanism,

either electromechanical or electronic, to periodically change the direction of current flow in

part of the motor.

DC motors were the first form of motor widely used, as they could be powered from existing

direct-current lighting power distribution systems. A DC motor's speed can be controlled over

a wide range, using either a variable supply voltage or by changing the strength of current in

its field windings. Small DC motors are used in tools, toys, and appliances. The universal

motor can operate on direct current but is a lightweight brushed motor used for portable

power tools and appliances. Larger DC motors are currently used in propulsion of electric

vehicles, elevator and hoists, and in drives for steel rolling mills. The advent of power

electronics has made replacement of DC motors with ac motor possible in many applications.

Fig.5.1 Dc Gear Motor

Dc motor is used in this project for the movement of wheel. High torque dc motor is used for

the convenient movement of the wheel. As the weight of the automatic vacuum cleaner is

approx 5-6 kg we need a series dc motor which generate high torque. Dc motor is also used

for controlling the speed of wheel of automatic vacuum cleaner.

Dc motor is used to convert direct electrical energy into mechanical energy. DC motor work

on the principal that "whenever a current carrying conductor is placed in a magnetic field, it

20 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

experiences a mechanical force”. The direction of the mechanical force induced in a dc motor

is given by Fleming’s Left-hand Rule and its magnitude is given by F=BIL Newton.

Dc motor is connected with NodeMcu Esp8266 with the help of dc motor driver, which is

further connected to the battery. Dc motor can rotate in both clockwise and anticlockwise

movement of the wheel.as the load driven by Dc motor is more so armature current needed

by it will also be more as a result high torque dc motor is required so that it can bear a heavy

load.

5.5.2 DC MOTOR DRIVER

A dc motor driver is a device that serves to conduct in some predetermined manner the

performance of a dc motor. A dc motor driver can be use to control the starting and stopping

or in forward or reverse rotation of a wheel, regulating the speed of the wheel, limiting the

torque and protecting against overloads and faults either a manual or automatic.

Common features of dc motor driver are:

precise closed loop position control

fast acceleration rates

precise speed control dc motors may be made from several motor types, the most

common being:

o brushed DC motor

o brushless DC motors

Fig.5.5.2 L298n Motor Driver Module

The L298N is an integrated monolithic circuit in a 15- lead Multi-watt and PowerSO20

packages. It is a high voltage, high current dual full-bridge driver de-signed to accept

DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

standard TTL logic level sand drive inductive loads such as relays, solenoids, DC and

stepping motors. Two enable inputs are provided to enable or disable the device

independently of the in-put signals. The emitter of the lower transistors of each bridge are

connected together rand the corresponding external terminal can be used for the connection

of an external sensing resistor. An additional Supply input is provided so that the logic works

at a lower voltage.

5.5.2.1 Features

1) High operating voltage, which can be up to 40 volts;

2) Large output current, the instantaneous peak current can be up to 3A;

3) With 25W rated power;

4) Two built in H-bridge, high voltage, large current, full bridge driver, which can be used to

drive DC motors, stepper motors, relay coils and other inductive loads.

5) Using standard logic level signal to control.

6) Able to drive a two-phase stepper motor or four-phase stepper motor, and two-phase DC

motors.

7) Adopt a high-capacity filter capacitor and a freewheeling diode that protects devices in the

circuit from being damaged by the reverse current of an inductive load, enhancing reliability

8) The module can utilize the built-in stabili volt tube 78M05 to obtain 5v from the power

supply. But to protect the chip of the 78M05 from damage, when the drive voltage is greater

than 12v, an external 5v logic supply should be used.

9) Drive voltage: 5-35V; logic voltage: 5V

5.5.3 NODE MCU ESP8266

Node MCU is an open source IOT platform. It includes firmware which runs on

the ESP8266 Wi-Fi from Espressif Systems, and hardware which is based on the ESP-12

module. The term "Node MCU" by default refers to the firmware rather than the development

kits. The firmware uses the Lua scripting language. It is based on the eLua project, and built

on the Espressif Non-OS SDK for ESP8266. It uses many open source projects, such as lua-

cjson and spiffs.

The module is mainly based on ESP8266 that is a low-cost Wi-Fi microchip incorporating

both a full TCP/IP stack and microcontroller capability. It is introduced by

manufacturer Espressif Systems – A manufacturer based in Shanghai, China.

21

DEPT OF ECE, CMRIT.

22

SMART VACUUM CLEANER

Arduino Modules and Microcontrollers have always been a great choice to incorporate

automation into the relevant project. But these modules come with a little drawback as they

don’t feature a built-in WiFi capability, subsequently, we need to add external WiFi

protocol into these devices to make them compatible with the internet channel.

This is where NodeMCU comes handy that incorporates a built-in WiFi support, giving an

easy pathway to design IoT applications as per your technical requirements.

Fig.5.5.3 Node Mcu

And open source firmware gives you the flexibility to edit, modify and rebuilt the existing

module and keep changing the entire interface until you succeed in optimizing the module as

per your requirements.

USB to UART converter is added on the module that helps in converting USB data to

UART data which mainly understands the language of serial communication.

Instead of the regular USB port, Micro USB port is included in the module that connects it

with the computer for dual purposes: programming and powering up the board.

The board incorporates status LED that blinks and turns off immediately, giving you the

current status of the module if it is running properly when connected with the computer.

The ability of module to establish a flawless Wi-Fi connection between two channels makes

it an ideal choice for incorporating it with other embedded devices like Raspberry Pi.

23 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

5.5.3.1 NODEMCU PIN:

NodeMCU V3 comes with a number of GPIO Pins. Following figure shows the Pinout of the

board.

Fig.5.5.3.1 Node MCU Pin Configuration

There is a candid difference between Vin and VU where former is the regulated voltage that

may stand somewhere between 7 to 12 V while later is the power voltage for USB that must

be kept around 5 V.

5.5.3.2 HOW TO POWER NODEMCU:

You can see from the pinout image above, there are five ground pins and three 3V3 pins on

the board. The board can be powered up using the following three ways.

USB Power. It proves to an ideal choice for loading programs unless the project you aim to

design requires separate interface i.e. disconnected from the computer.

Provide 3.3V. This is another great option to power up the module. If you have your own

off-board regulator, you can generate an instant power source for your development kit.

24 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

Power Vin. This is a voltage regulator that comes with the ability to support up to 800 mA. It

can handle somewhere between 7 to 12 V. You cannot power the devices operating at 3.3 V,

as this regulator unable to generate as low as 3.3V.

5.5.3.3 FEATURES OF NODEMCU ESP8266

Open-source

Arduino-like hardware

Status LED

MicroUSB port

Reset/Flash buttons

Interactive and Programmable

Low cost

ESP8266 with inbuilt wifi

USB to UART converter

GPIO pins

5.5.4 RASPBERRY PI 3B

The Raspberry Pi is a series of small single-board computers developed in the United

Kingdom by the Raspberry Pi Foundation to promote teaching of basic computer science in

schools and in developing countries. The original model became far more popular than

anticipated, selling outside its target market for uses such as robotics. It does not include

peripherals (such as keyboards and mice) or cases. However, some accessories have been

included in several official and unofficial bundles.

The organisation behind the Raspberry Pi consists of two arms. The first two models were

developed by the Raspberry Pi Foundation. After the Pi Model B was released, the

Foundation set up Raspberry Pi Trading, with Eben Upton as CEO, to develop the third

model, the B+. Raspberry Pi Trading is responsible for developing the technology while the

Foundation is an educational charity to promote the teaching of basic computer science in

schools and in developing countries.

According to the Raspberry Pi Foundation, more than 5 million Raspberry Pis were sold by

February 2015, making it the best-selling British computer. By November 2016 they had sold

25 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

11 million units, and 12.5m by March 2017, making it the third best-selling "general purpose

computer". In July 2017, sales reached nearly 15 million. In March 2018, sales reached 19

million.

The Raspberry Pi 3 Model B is the third generation Raspberry Pi. This powerful credit-card

sized single board computer can be used for many applications and supersedes the original

Raspberry Pi Model B+ and Raspberry Pi 2 Model B.

Whilst maintaining the popular board format the Raspberry Pi 3 Model B brings you a more

powerful processor, 10x faster than the first generation Raspberry Pi.

Additionally it adds wireless LAN & Bluetooth connectivity making it the ideal solution for

powerful connected designs.

5.5.4.1 Raspberry Pi 3 - Model B Technical Specification

Broadcom BCM2387 chipset

1.2GHz Quad-Core ARM Cortex-A53

802.11 bgn Wireless LAN and Bluetooth 4.1 (Bluetooth Classic and LE)

1GB RAM

64 Bit CPU

4 x USB ports

4 pole Stereo output and Composite video port

Full size HDMI

10/100 BaseT Ethernet socketbr

CSI camera port for connecting the Raspberry Pi camera

DSI display port for connecting the Raspberry Pi touch screen display

Micro SD port for loading your operating system and storing data

Micro USB power source

5.5.4.2 Raspberry Pi 3 - Model B Features

o Now 10x Faster - Broadcom BCM2387 ARM Cortex-A53 Quad Core Processor

powered Single Board Computer running at 1.2GHz!

o 1GB RAM so you can now run bigger and more powerful applications

26 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

o Fully HAT compatible

o 40pin extended GPIO to enhance your “real world” projects.

o Connect a Raspberry Pi camera and touch screen display (each sold separately)

o Stream and watch Hi-definition video output at 1080

o Micro SD slot for storing information and loading your operating systems.

o 10/100 BaseT Ethernet socket to quickly connect the Raspberry Pi to the Internet

Fig. 5.5.4 Raspberry Pi 3b

5.5.5 RASPBERRY PI CAMERA V2

The Raspberry Pi Camera v2 is the new official camera board released by the Raspberry Pi

Foundation.

This 8mp camera module is capable of 1080p video and still images that connect directly to

your Raspberry Pi. This is the plug-and-play-compatible latest version of the Raspbian

operating system, making it perfect for time-lapse photography, recording video, motion

detection and security applications. Connect the included ribbon cable to the CSI (Camera

Serial Interface) port on your Raspberry Pi, and you are good to go!

The board itself is tiny, at around 25mm x 23mm x 9mm and weighing in at just over 3g,

making it perfect for mobile or other applications where size and weight are important. The

sensor has a native resolution of 8 megapixel, and has a fixed focus lens on board. In terms of

27 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

still images, the camera is capable of 3280 x 2464pixel static images, and also supports

1080p30, 720p60 and 640x480p90 video.

5.5.6 BATTERY

Fig. 5.5.5 Raspberry Pi Camera V2

The Skycell Premium LiFePO4 Rechargeable Battery Pack is a 12s 5p battery pack with a

nominal voltage of 36V and can be fully charged upto 43.8V. This battery pack has 60 cells

which gives it a capacity for 1C (30A) continuous discharge and 3C (90A) discharge for a

few seconds. The nominal capacity of the battery pack is 30000mah. The battery pack has an

in-built BMS which prevents the battery from over charging above 43.8V and also prevents it

from over discharging below 33.5 volts.

The Skycell Premium LiFePO4 Rechargeable Battery Pack is made using Skycell High

Qualtiy Lithium Iron Phosphate (LiFePO4) rechargable cells which are one of the most

powerful and most stable cells available along with an amazing life cycle

of approximately 3000 cycles. The High Quality LiFePO4 is a 6000 mah cell with a 1C(6A)

continuous discharge and 3c(18A) peak discharge. These cells can work in high temperature

environments which might not be favourable for the Li-ion or Li-po cells. The cell is

availaible in the 32650 / 32700 size which means that the diameter of the cell is 32mm and

height is 70 mm which is quite compact for the power it gives. With a life cycle

28 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

of approximately 3000 cycles with good performance, this is a fit and forget solution for our

battery packs.

The benefits of the LiFePO4 cells over Li-ion and Lead acid batterie are:

LiFePO4 cells are much more stable chemically and non combustible. At high

temperatures or if the battery is mishandled the phosphate based cathode material will

not burn. Hence LiFePO4 are much more safe for E-Vehicles and mobile robots

LiFePO4 cells offer much longer lifetime as compared to a Lead Acid or a Li-ion cell.

The LiFeP04 provides approximately 3000 cycles under proper handling and upto

70% DOD( Depth of Discharge). Also the shelf life of the cell is much longer with a

lower self discharge rate.

The LiFePO4 cells offer higher performance compared to a normal 1C Li-ion 18650

cell. The commonly availaible Li-ion cell are rated for 2 A discharge rate whereas the

LiFePO4 1C cell provides a 6A discharge rate. There is also very little voltage drop

during discharge which is much higher in a lead acid battery.

The LiFePO4 is a nontoxic material, non contaminating material which contains no rare-earth

minerals. This makes it a much more environment friendly choice compared to the lead acid

and Lithium batteries.

5.5.6.1 Battery Specifications:

Nominal Voltage of battery : 36V (12s5p)

Maximum Voltage of battery : 43.8V(at full charge)

Operating Voltage: 33.5V -43.8V

Minimum voltage allowed by BMS : 33.5 V ( BMS will cutoff the supply once

battery pack is discharged up till 33.5 V)

Continuous Current Capacity : 30 A (1C )

Peak Current Capacity : 90 A (3 C) only for few seconds)

Norminal Battery Capacity: 30000mAh

Max Charging Current(Continuous): 1C (30A)

Dimension: 330mm*200mm*80mm

No of charge/discharge cycles : approximately 3000 cycles for 70% DOD. This

means that if the battery pack is used once daily then the life is approx 8 years for

same.

5.5.6.2 Applications of LiFePO4 battery

29 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

Light electric car, e-bike, electric scooter, e-rickshaw,electric golf cart, forklift,

cleanness car, electric wheelchairs.

E-tools like electric drill, electric saw, lawn mower and so on

Remote control cars, boat aircraft, toys.

Solar and wind power generation energy storage devices

Small medical equipment and portable equipment

5.5.7 WHEEL

Fig.5.5.6 Battery

Wheel is used for the movement of the body from one place to another with the help of Dc

motor. A wheel is usually of circular shape and hard and made up of durable material

whose center has a circular hole through which an axle bearing is placed about which the

wheel rotates and when a moment is applied by the torque to the wheel about the axis,

thereby making together and also easy movement of the automatic vacuum machine. When

wheel is placed vertical axis under a load-bearing platform , the wheel turning on the

horizontal axis makes it possible to transport heavy loads efficiently, when placed

horizontally, the wheel turning on its vertical axis makes it possible to control the spinning

motion used to shape materials , when mounted on a column connected to a chassis mounted

on other wheels, one can control the direction of a automatic vacuum cleaner, when

connected to a engine, a wheel control, release, or transmit energy .

30 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

5.5.8 Ultra Sonic Sensor

Fig.5.5.7 Wheel

An ultrasonic sensor is an instrument that measures the distance to an object using

ultrasonic sound waves.

An ultrasonic sensor uses a transducer to send and receive ultrasonic pulses that relay

back information about an object’s proximity.

High-frequency sound waves reflect from boundaries to produce distinct echo patterns.

Ultrasonic sensors are a reliable, cost-effective solution for distance sensing, level, and

obstacle detection.

5.5.8.1 How Ultrasonic Sensors Work

Ultrasonic sensors work by sending out a sound wave at a frequency above the range of

human hearing. The transducer of the sensor acts as a microphone to receive and send

the ultrasonic sound. Our ultrasonic sensors, like many others, use a single transducer to

send a pulse and to receive the echo. The sensor determines the distance to a target by

measuring time lapses between the sending and receiving of the ultrasonic pulse.

The working principle of this module is simple. It sends an ultrasonic pulse out at

40kHz which travels through the air and if there is an obstacle or object, it will bounce

back to the sensor. By calculating the travel time and the speed of sound, the distance

can be calculated.

5.5.8.2 Why use an Ultrasonic Sensor?

Ultrasound is reliable in any lighting environment and can be used inside or outside.

Ultrasonic sensors can handle collision avoidance for a robot, and being moved often, as

long as it isn’t too fast.

31 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

Ultrasonic are so widely used, they can be reliably implemented in grain bin sensing

applications, water level sensing, drone applications and sensing cars at your local drive- thru

restaurant or bank.

Ultrasonic rangefinders are commonly used as devices to detect a collision.

5.5.8.3 Ultrasonic Sensors are best used in the non-contact detection of:

Presence

Level

Position

Distance

Non-contact sensors are also referred to as proximity sensors.

5.5.8.4 Ultrasonic are Independent of:

Light

Smoke

Dust

Color

Material (except for soft surfaces, i.e. wool, because the surface absorbs the

ultrasonic sound wave and doesn’t reflect sound.)

Long range detection of targets with varied surface properties.

Ultrasonic sensors are superior to infrared sensors because they aren’t affected by smoke

or black materials, however, soft materials which don’t reflect the sonar (ultrasonic)

waves very well may cause issues. It’s not a perfect system, but it’s good and reliable.

5.5.8.5 Applications Involving Ultrasonic Detection:

Ultrasonic Distance Measuring

Distance measurement is based on the measurement of time-of-flight. The time between

sending and receiving the reflected sound signal is calculated by the sensor. Ultrasonic

distance sensors, like the MB7360 HRXL-MaxSonar-WR, are used as height monitors,

in bin level measurement and proximity zone detection applications.

Ex. Distance measurement would be applied in a garage parking

application, sensing when a vehicle is pulled completely into a

garage.

32 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

The MB7360 has been used as a bin level sensor to detect the

presence or absence of grain and other materials in bin

Fig. 5.5.8 Ultra Sonic Sensor

5.5.9 VACUUM CLEANER

A vacuum cleaner, also known simply as a vacuum, is a device that causes suction in order to

remove debris from floors, upholstery, draperies and other surfaces. It is generally electrically

driven.

The dirt is collected by either a dustbag or a cyclone for later disposal. Vacuum cleaners,

which are used in homes as well as in industry, exist in a variety of sizes and models—small

battery-powered hand-held devices, wheeled canister models for home use, domestic central

vacuum cleaners, huge stationary industrial appliances that can handle several hundred litres

of dust before being emptied, and self-propelled vacuum trucks for recovery of large spills or

removal of contaminated soil. Specialized shop vacuums can be used to suck up both dust

and liquid

Most vacuum cleaners are supplied with numerous specialized attachments, such as tools,

brushes and extension wands, which allow them to reach otherwise inaccessible places or to

be used for cleaning a variety of surfaces. The most common of these tools are:

Hard floor brush (for non-upright designs)

33 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

Powered floor nozzle (for canister designs)

Dusting brush

Crevice tool

Upholstery nozzle

5.5.9.1 Specifications

The performance of a vacuum cleaner can be measured by several parameters:

Airflow, in litres per second [l/s] or cubic feet per minute (CFM or ft³/min)

Air speed, in metres per second [m/s] or miles per hour [mph]

Suction, vacuum, or water lift, in pascals [Pa] or inches of water

Other specifications of a vacuum cleaner are:

Weight, in kilograms [kg] or pounds [lb]

Noise, in decibels [dB]

Power cord length and hose length (as applicable)

Suction

The suction is the maximum pressure difference that the pump can create. For example, a

typical domestic model has a suction of about negative 20 kPa.

Input power

The power consumption of a vacuum cleaner, in watts, is often the only figure stated. Many

North American vacuum manufacturers give the current only in amperes (e.g. "6 amps"), and

the consumer is left to multiply that by the line voltage of 120 volts to get the approximate

power ratings in watts. The rated input power does not indicate the effectiveness of the

cleaner, only how much electricity it consumes.

Output power

The amount of input power that is converted into airflow at the end of the cleaning hose is

sometimes stated, and is measured in airwatts: the measurement units are simply watts. The

word "air" is used to clarify that this is output power, not input electrical power.

34 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

5.5.10 MOP

A mop (such as a floor mop) is a mass or bundle of coarse strings or yarn, etc., or a piece of

cloth, sponge or other absorbent material, attached to a pole or stick. It is used to soak up

liquid, for cleaning floors and other surfaces, to mop up dust, or for other cleaning purposes.

There are two types of mops:

Dry Mops

Wet Mops

Dry mop, dust mop

A dry mop or dust mop is designed to pick up dry, loose contamination such as dust, earth,

and sand from the surface of the floor. It consists of yarn and/or microfiber and can be used

as a first step in cleaning a floor.

Professional dry mops consist of a flat sheet of microfiber textile or sheets with a surface of

looped yarn, usually about 15 cm (6 in) wide, and comes in variable lengths .

The dry mop can in many instances replace a broom and has the ability to hold a limited

amount of dust or sand within itself. The heads of dry mops are often removable and can be

washed and replaced when saturated with dust.[5] Another option is using a vacuum cleaner to

suck surface dust away from the mop; however, this is much more limited in its effectiveness.

Single-use dry mops are also available and widely sold.

Wet-mop, moist-mop

A wet mop or moist mop is, in professional cleaning, used as in the second step in the

cleaning of a surface. The wet mop is swept over the surface to dissolve and absorb fat, mud

and dried-in liquid contaminations. Professional wet mops consist of a flat sheet of microfiber

textile or a sheet with a surface of looped yarn (which might contain microfiber as well),

usually about 15 cm (6 in) wide, and come in various lengths (usually 30–100 cm ).

35 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

Fig. 5.5.10 Mop

5.5.11 SMALL WATER TANK

Water tanks are used to provide storage of water for use in many applications, drinking

water, irrigation agriculture, fire suppression, agricultural farming, both for plants and

livestock, chemical manufacturing, food preparation as well as many other uses. Water tank

parameters include the general design of the tank, and choice of construction materials,

linings. Various materials are used for making a water tank: (polyethylene, polypropylene),

fiberglass, concrete, stone, steel (welded or bolted,[1] carbon, or stainless).

Fig. 5.5.11 Small Water Tank

36 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

5.6 SOFTWARE METHODOLOGY

5.6.1 Image Capturing

We will make use of some basic parameters over camera so for example the resolution,

brightness, contrast and the frame rate. After that we used some default values for our

brightness, contrast and saturation. You can play with these parameters adding your own.

Next is frame per second. So its default value is 0 means our camera will try to capture as

many frames it can.

But if you have to capture 30 frames per second then we can specify 30 as a parameter. Let's

say if we want to capture 100 frames so we can specify a hundred here. But we will specify

the zeros so that our camera can try to capture maximum frames as much as it can.

5.6.2 Video Capturing

In this section, we have to access a video from a raspy cam. Here we are not going to make

use of any different function. Rather than that we will use a different approach. Initially we

read video before displaying. In OpenCV, video can either be read by using feed from camera

or by reading a video file. After reading, we will display the video frame by frame. The frame

of a video is simply an image and we display each fame the same way we display image that

is we use functions like imshow(), in which window automatically fits to image size. As in

the case of image, we use the wait Key() in order to pause each frame in the video. In the case

of image, we pass “0” to the wait Key() function, but for playing a video, we need to pass

number greater than “0” to the wait Key() function. This is because “0” would pause the

frame in the video for an infinite amount of time and in video we need each frame to be

shown only for some finite interval of time. So, we need to pass number greater than “0” to

the wait key function. This number is equal to the time in milliseconds we want each frame to

be displayed. In rare cases, when the playback needs to be at a certain frame rate , we may

want a delay higher than one millisecond.

For this project I will use it resolution of 360 by 240 for our image processing. We will not

process our images in high quality or in full HD because our Raspberry Pi cannot handle the

image processing at high bitrate. We can see at high resolution and most importantly 360 by

37 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

240 frame is enough to capture all the details that we want. So there's no point to capture a

high resolution images for our image processing.

5.6.3 Calculation of Frames Per Second

Now in this step we will calculate the total frame rate for our video stream. FPS can be

defined as the number of full screen images that are displayed each second. It has wide range

of application in video and playback and is also used to measure the game performance.

Here, this function is just created to make the processor busy.

Each frame is a still image; displaying frames in quick succession creates the illusion of

motion. The more frames per second (fps), the smoother the motion appears. In general, the

minimum fps needed to avoid jerky motion is about 30.

5.6.4 Convert Image Signature

The function cVtColor in C++ converts the image given as input from one color space to

another. When we want transformation of color space from RGB to any other color space we

have to mention it explicitly(RGB OR BGR). By default the color format in OpenCV is RGB

but the bits are actually reversed i.e BGR . Therefore the first byte in standard color image is

8-bit Blue component ,next is Green and the third component will be Red. For linear

transformations we don’t need to expilcitly provide the range for RGB color image but in

case of non-linear transformations the image should be properly normalized to a proper pre-

defined value of range to get the proper results. If we use this function for 8-bit images some

information will be lost during conversion. So it is better to use cVt Color function with 32-

bit images so that information is retrieved and is not lost. This function will automatically

convert the image before operation for the applications that will provide the full range of

colors.

5.6.5 Threshold Operations

Thresholding is one of the simplest segmentation method used in OpenCv4. It has wide

range of applications in separating the areas of an image corresponding to the object we want

to analyze. This separation principle is based on the difference in the intensities of object

pixels and background pixels. For differentiating the pixels from an image which we want to

remove the intensities values are compared with respect to a threshold value which is

determined according to the problem which we solve. Once the pixels are separated out

38 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

properly we can provide them predetermined value so that it becomes easy to identify them.

In OpenCV4 the function thresholds perform different thresholding operations. They are

namely Threshold Binary , Threshold Binary(Inverted) , Truncate , Threshold to Zero and

Threshold to Zero(Inverted).

5.6.6. Canny Edge Detection

It is a popular edge detection algorithm which is been used in OpenCV4. The function used

for such detections are cv.Canny. It is a multistage process which can be explained through

the below following steps:-

NOISE REDUCTION

In the very beginning since the edge detection is sensitive to noise therefore it is

essential to remove noise in the image using a Gaussian filter of dimension (5*5).

FINDING INTENSITY GRADIENT OF THE IMAGE

Now the smoothend image is filtered in both horizontal and vertical direction using

Sobel Kernel to get the first derivative in horizontal and vertical directions

respectively. Using these images we find edge gradient and direction for each pixel in

the image. The Gradient direction is always perpendicular to the edges of the image

object .

NON-MAXIMUM SUPRESSION

After determining the magnitude of gradient and direction the image is scanned and

unwanted pixels are removed which does not comprises of the image. At every pixel

point it is been verified that its local maximum is in the neighbourhood direction of its

gradient.

Fig.5.6.6.1 Candy Edge Detection

39 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

HYSTERESIS THRESHOLDING

As the name suggest this stage decides whether the edges are real or not. The edges

are evaluated on the basis of two threshold values which are min Val and max Val.

The edges which have intensity gradient more than max Val are sure to be edge while

thos edges which have intensity gradient less than min Val are non-edges i.e. not real

edges. For those edges whose intensity lie between the specified interval value are

considered to be a part of edges and are sure-edges. Otherwise they too can be

discarded.

Fig. 5.6.6.2 Hysteresis Graph

40 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CHAPTER-6 RESULT

(a) (b)

(c) (d)

(e)

Fig 6. Axial Representation Of Automatic Vacuum Cleaner

A).TOP VIEW B).BOTTOM VIEW C).FRONT VIEW D) .BACK VIEW

E)ISOLATED VIEW

41 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

The robot which we design will facilitate efficient floor cleaning with sweeping and

mopping operations.

It will work only in automatic mode or with the help of remote control .

It will also provide the hurdle detection in case of any obstacles that comes in its way,

hurdle is detected using ultrasonic sensor.

ultrasonic sensor also helps in detecting depth such as stair which prevent robot from

falling.

Our design will be helpful in overcoming the limitation of the existing technology,i.e.

instead of zigzag movement of the robot, our system will follow straight path (edge

detection).

Along with sensor the robot also consist of vacuum pump, mop and battery .

vacuum pump help in sucking dust, and this suction of dust will take place from the

front side of model.

mop is used in case we want wet mopping.

42 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

CHAPTER-7

CONCLUSION AND SCOPE FOR FUTURE WORK

The autonomous vacuum cleaner is not yet ready for commercialization ,which was never

the goal of the project. Many of the achieved result are very promising .the shape of the

robot is well suited for the application specially for the task like cleaning along the ball, along

legs and corners. the ultrasonic sensor is able to identified obstacles .The combination of the

robot shape and ultrasonic sensor system and its algorithm play well together and make the

task of cleaning an unknown and un structure environment feasible.

The future work of robot may include

Image/video captured of a objects can be fed to the controller so that the robot can

clean the entire house according to the input fed.

Currently image is captured only for edge detection for movement in proper path, not

for object detection.

The cleaning mechanism on the robot can be replaced by a handlike structure so that

it can lift things from one place to another.

Voice controlled locomotion of robot instead of remote control.

Automatic charging.

43 DEPT OF ECE, CMRIT.

SMART VACUUM CLEANER

REFERENCE

[1] https://www.ijert.org/research/arduino-based-cleaner-robot-IJERTCONV5IS01145.pdf

[2] http://www.standardsuniversity.org/wp-content/uploads/Smart-Floor-Cleaning-Robot-

CLEAR.pdf

[3] https://pdfs.semanticscholar.org/59be/a86b03a6470f25921be23ae3c43f2463c810.pdf

[4] https://www.techhive.com/article/3281014/how-a-robot-vacuum-navigates-your-

home.html