Principle of Operation of Shunt DC Motor- ENG4118

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IoT Based Floor Cleaner 1
IOT BASED FLOOR CLEANER FOR STUDENT ACCOMMODATION
Studentâ€s Name
University
Tutors Name
Course
City
Date
IoT Based Floor Cleaner 2
A bstract
Cleaning is an important part of our everyday routine. Many items used in homes,
institutio ns, and industrie s may have negative consequences that we are unaware of. There are
numerous hazardous components in household items that might induce dizziness and respiratory
tract discomfort. This project is suitable for c leaning both wet and dry floors. The current
initiative aims to employ a floor cleaning machine to clean floors in homes and offices. Wet
floor cleaning is done with a continua l relative movement between the washer and the floor,
while dry floor cleaning i s done with a vacuum cleaner sucking up the dry dust. These floor
cleaners will save you a lot of money in the long run. It saves time and money by reducing
cleaning time. It cleans more precisely. Connecting electric and mechanic a l motors can upgrade
this floor cleaner.
In this paper I ha ve created a floor cleaning robot for the IOT in this system. This robot
has a vacuum, dry and wet cleaning mechanism. The Internet of Things (IoT) is used to operate
this robot. The Blynk App for the Internet of Things (I oT) is used to remotely operate the Floor
Cleaning machine from anywhere in the world. Arduino, LCD Module, Vacuum Cleaner, IoT
Wifi Module, DC Pump, Blynk Applicatio n, and Battery are some of the key components in this
system’s creation. Users will have access to an IOT -based Blynk Android App upon which to
operate th is device. Internet connectivity is required for both the mobile pho ne and the robot.
The Blynk Applicatio n’s user interface /co ntro l panel includes buttons like (Forward, Backward,
Left, Right, and Pump ON/OFF, Vacuum ON/OFF). Using the Blynk Applicatio n, a user’s
command is wirelessly sent to a system through the internet . Sending a signa l to an Arduino
Microcontroller is done by the Bluetooth , which receives an instructio n via the Internet.
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Acknowledgement
Without acknowledging those whose persistent direction and support made our efforts
possible, the happiness and exh ila ratio n of completing any endeavor would be incomplete. I’d
like to thank my outstanding supervisor for all of his helpful advice, insightful recommendatio ns,
and unwavering support througho ut this project’s experimenta l and theoretica l phases. It’s been
an honor to work with him, whose knowledge and insight were vital in getting this job done.
This project, which is a vital element of my degree, was made possible by the Dept. of
Enginee ring, and I am thankful for the chance to work on it. To my friends w ho have either
directly or indirectly contributed in some way to the success of my project, I would like to
express my gratitude for their support. Without thanking my parents and sister for their love,
patience, support, and understand ing, which are the s ources of my inspiratio n throughout my
work, my appreciation would be incomple te.
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Contents
Contents
Abs tract ………………………….. ………………………….. ………………………….. ………………………….. ………… 2
Acknowle dge me nt ………………………….. ………………………….. ………………………….. ……………………….. 3
1 Introduction ………………………….. ………………………….. ………………………….. ………………………… 7
1.1 B ackground ………………………….. ………………………….. ………………………….. …………………… 7
1.2 Aims and Objectives ………………………….. ………………………….. ………………………….. ………. 8
1.3 Proje ct Spe cification ………………………….. ………………………….. ………………………….. ………. 9
2 Lite rature s urvey (rese arch) ………………………….. ………………………….. ………………………….. …… 9
2.1 B ackground information ………………………….. ………………………….. ………………………….. .. 10
2.2 IoT B a sed Floor Cle ane r Relate d Pape rs ………………………….. ………………………….. ……… 11
2.3 Ove rvie w of IoT ………………………….. ………………………….. ………………………….. …………… 15
2.3.1 IOT – Fe atures Ke y ………………………….. ………………………….. ………………………….. …. 16
2.3.2 Te chnology and Protocols ………………………….. ………………………….. ……………………. 16
2.4 Re lay ………………………….. ………………………….. ………………………….. ………………………….. 17
2.4.1 Working Principle of Re lay ………………………….. ………………………….. ………………….. 18
2.5 Ove r Vie w of DC motor ………………………….. ………………………….. ………………………….. … 18
2.5.1 Principle of Ope ration of Shunt DC Motor ………………………….. …………………………. 19
2.5.2 Controlling the Spee d of DC Shunt M otors ………………………….. …………………………. 20
2.5.3 Shunt DC Motor Ins tallation ………………………….. ………………………….. ……………….. 20
2.5.4 Shunt motors Applications ………………………….. ………………………….. …………………… 21
2.5.5 DC Shunt Motor Equations ………………………….. ………………………….. …………………. 21
2.6 B luetooth ………………………….. ………………………….. ………………………….. …………………….. 22
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2.6.1 How Does B luetooth Work. ………………………….. ………………………….. ………………….. 22
2.6.2 Us ing a Blue tooth he adse t ………………………….. ………………………….. ……………………. 23
2.7 Finite Ele me nt Analys is ………………………….. ………………………….. ………………………….. …. 23
2.7.1 Study of the Wheel Rim ………………………….. ………………………….. ………………………. 25
2.7.2 Whee l Rim Design ………………………….. ………………………….. ………………………….. …. 26
2.7.3 Boundaries and Loading. ………………………….. ………………………….. …………………….. 26
3 Proje ct Design Spe cification ………………………….. ………………………….. ………………………….. …. 27
3.1 Ele ctrical Design ………………………….. ………………………….. ………………………….. ………….. 27
3.1.1 Arduino Uno ………………………….. ………………………….. ………………………….. …………. 27
3.1.2 Vacuum Cle ane r ………………………….. ………………………….. ………………………….. ……. 28
3.1.3 DC Pump ………………………….. ………………………….. ………………………….. ……………… 28
3.1.4 IC L298N for motor control ………………………….. ………………………….. …………………. 29
3.1.5 Re lay Control ………………………….. ………………………….. ………………………….. ………… 30
3.1.6 Direct Curre nt (DC) M otor ………………………….. ………………………….. ………………….. 31
3.1.7 LED Dis play Module 20X4 ………………………….. ………………………….. ………………….. 31
3.1.8 B luetooth (HC – 06) ………………………….. ………………………….. ………………………….. … 32
3.2 Mechanical Design ………………………….. ………………………….. ………………………….. ……….. 49
3.2.1 Chass is ………………………….. ………………………….. ………………………….. …………………. 50
3.2.2 Swee pe r ………………………….. ………………………….. ………………………….. ……………….. 50
3.2.3 Vacuum Pump ………………………….. ………………………….. ………………………….. ………. 50
3.2.4 Whee ling Sys te m ………………………….. ………………………….. ………………………….. ……. 50
3.3 Application Sys te m ………………………….. ………………………….. ………………………….. ………. 53
3.3.1 B lynk App setup ………………………….. ………………………….. ………………………….. ……. 53
4 Res ults ………………………….. ………………………….. ………………………….. ………………………….. ….. 55
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5 Dis cuss ions ………………………….. ………………………….. ………………………….. ………………………… 56
6 Conclus ion and Recomme ndation ………………………….. ………………………….. ………………………. 57
7 Re fe re nces ………………………….. ………………………….. ………………………….. …………………………. 59
8 Appe ndices ………………………….. ………………………….. ………………………….. ………………………… 63
IoT Based Floor Cleaner 7
1 Introduction
1.1 Background
Cleaning is an important part of our everyday routine. Many items used in homes,
institutio ns, and industrie s may have negative consequences that we are unaware of. There are
numerous hazardous components in household items that might induce dizziness and respiratory
tract discomfort. This project is suitable for cleaning both wet and dry floors. The current
initiative aims to employ a floor cleaning machine to clean floors in homes and offices. Wet
floor cleaning is done wi th a continua l relative movement between the washer and the floor,
while dry floor cleaning is done with a vacuum cleaner sucking up the dry dust. These floor
cleaners will save you a lot of money in the long run. It saves time and money by reducing
cleani ng time. It cleans more precisely. Connecting electric and mechanic a l motors can upgrade
this floor cleaner.
Cleaning is an important task that must be completed meticulo usly. This is easy at times
and also diffic ult. As a result, we are unable to allocate live anima ls to every site where cleaning
is necessary since the presence of living organisms might be detrimenta l. A few locations have a
large floor area, which necessitates the use of more than one person for cleaning. Students are
thought to be so bus y, particularly during test seasons, that they are unable to clean their own
rooms, thus we needed a way to compensate for the problems. In the advancement of science, a
robot appears, but it is controlled by a faculty. More innovatio ns are required to avo id reaching
the faculty limit. Computerizatio n is a unique solutio n to this problem. So, using IoT and
Arduino programming, we created an automatic floor cleaning gadget. Families are becoming
more sophisticated and technologica lly advanced. Individ ua ls be nefit from automatio n because it
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provides greater flexib ility and opportunities. Despite the fact that this is a new and immature
industry, automated gadgets are finding their way into people’s homes and routines. Regardless,
the adoption of local robots i s on the rise, and this trend is predicted to continue. Wet floor
vacuum cleaners are very rare in mechanica l vacuum cleaners, of which there are only a few on
the market. Design and develop an autonomous and manual IoT -based floor sweeper that can be
oper ated remotely is the purpose of this project. An automated floor cleaner is designed to make
cleaning simpler than if it were done by hand. Using an Arduino board and a servo motor, this
project aims to build and evaluate a model of an Internet of Things -based floor sweeper.
1.2 Ai ms and Objecti ves
The main aim of this project is to design, analysis and simula te an IoT -based floor cleaner
for student accommodatio n using Proteus, Arduino, and CAD . The cleaner will be built,
programmed, and tested. Several desig n analyses and FEA will be performed on the basic design
using relevant software programs. Once the first structural analysis has been completed and the
findings have been studied for improved performance, the basic design will be optimized. The
major comp onent will be a central unit, which will serve as the cleaner’s main body. Several
wheels will be installed below the main body for body dynamics.
We will build an automated floor cleaning system that can functio n in student
accommodatio ns and hazardous environme nts without the need for employees. Robots that clean
floors without the need for human interactio n can be built using an internet of things -based
system. When there are few barriers and a large area has to be cleaned, this method i s often used.
The majority of problems arise on big floors when human competence is limited. It indicates that
students might get fatigued on huge floor spaces. Dangerous radiations, chemica ls, air, and
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pollutio ns may cause sickness or death at places like near power supplies or Laboratories that
contains dangerous chemica ls. Thus, it is possible to put this robot to work in particular places.
For a complete wet floor cleaning, a wiper motor and water pump have been included into this
design in addition to a vacuum cleaner in front. Before cleaning down the floor, the vacuum
cleaner collects any solid debris.
1.3 Project Speci fi cati on
Th e Projectâ€s system is divided into three parts i.e., Electrica l control system unit,
Mechanica l and Applicatio n system. These three components mentio ned above are coupled to
coordinated to each other in order to give the desired output. The main component of the control
unit is Arduino Uno which coordinate all the input and the output signals.
 Bread Board – Half Size
 Arduino Uno
 Vacuum Pump – 12V
 L298N Motor Driver Board Module
 Diode Rectifier – 1A 50V
 Relay Module
 LCD Display 20×4 I2C
 DC Motors.
2 Literature survey (research)
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2.1 Background i nformati on
There are a number of new vacuum cleaners on the market right now. Proposes a’smart
floor cleaning robot using android’ model, MIT app inventor and Bluetooth, Wi -Fi, and Android
modules. The MIT invento r app’s proximity and several features were restricted due to the
model’s usage of Bluetooth (Cao et al.2019) . Autonomous infrared sensors are used to identify
obstacles in Abhishek Pandey’s concept. The robot could only be operated in an automated
mode, and it was not possible to move it manually. As you would guess, creating a vacuuming
robot that can clean a room or perhaps a whol e home on its own, using just a phone app to
operate it, is not an easy task . The autonomous/ma nua l vacuum cleaner was simplified and
assumptio ns were made. According to Panwar et al. (2022), s everal functio na l demands that may
have enhanced the robot’s pe rformance were not considered in this way due to their inherent
complexity or mechanica l ramific atio ns. These semi -autono mo us or fully autonomous robots
perform a variety of services that benefit both humans and machines. The goal was to create an
autonomo us vacuum cleaner robot that could travel about a room or a house on its own, with the
bare minimum of human help. To that end, the criteria listed below were developed.
This study was conducted by Patil et al. (2021) to examine the distributio n of
displac eme nt, equiva le nt stress (von -mises), strain, and the wheel’s safety factor. Patil et al.
(2021), said that i t is impossib le to estimate all of these facts based on mechanic a l
approximatio ns. FEA is often used througho ut the product design phase for this p urpose. FEA
was carried out on the 3 -dimensio na l wheel models developed in SOLIDWORKS 2019 and
imported into ANSYS 16.0 in parasolid format. It was decided to use solid mesh models for the
inquiry. The analytica l system made use of a static situatio n (Pati l et al. 2021) . At the bolt, the
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wheel was constrained in every possible way. The outside rim of the wheel was subjected to a
pressure of 0.241317 MPa. Structural steel and a fatigue module were used to figure out the
qualities that affect human life and s afety.
Manasa et al. (2019), produced a finite element model of a typical bicycle wheel and
compared it to published results derived using ANSYS. Discrepancies in the wheel’s
performance were discovered. According to the results, ANSYS modeling may be used to
investigate structures li ke the bicycle wheel. It was proposed by Panwar et al. (2022), that
ABAQUS software may be used to develop an aluminum wheel static load finite element model
for rotational fatigue testing. Results revealed that combining finite element analysis with the
nomina l stress technique to forecast the fatigue life of aluminum wheels was successful and
effic ie nt. In the 400loading test, Amitha et al. (2020) employed a finite element method to
evaluate the vehicle rims. There were two steps to the finite element ana lysis of stress levels in
the rim’s center: origina l and optimized versions. A better design solution may be found by
analyzing the static stresses, which can indicate locations of high stress concentratio ns. This
study’s findings were compared with those from a similar experime nt. An investigatio n by Ong
et al. (2020), on the stress distributio n and fatigue life of an automobile tire rim under the
conditions of off -road field areas and road irregularities was conducted.
2.2 IoT Based Fl oor Cl eaner Rel ated Pape rs
Mohapatra et al. (2019), created an autonomous robot for floor cleaning software. It has
the capacity to suck up and clean, identify barriers, and spray water. A manual procedure may
also be used. All hardware and software operations are governed by th e Raspberry Pi3 model.
For those of us who are always on the go, Chen et al. (2018), conducted a detailed assessment of
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the technology benefits that are used in the actual world to make our lives simpler. An automated
home appliance is now a goal that can be achieved. A DC motor -driven wheel, a dustbin, a
cleaning brush, a mop cleaning, and an obstruction -avo id ing sensor are all included in the
research. A 12V battery powers the device. Methodologie s for cleaning using ULTRAVIOLET
germic ida l cleaning techno logy are unique. When doing the study, we kept in mind the product’s
pricing.
In addition to programmab le cleaner robot model is described in this paper, along with its
look, developme nt, and constructio n. An air vacuum and a choose and place mechanism are just
two of the many features that make this kind of robot so useful (Sharma et al. 2022) . This kind of
work is both easy and useful to the growth of human existence.
Residentia l cleaning robots were built by Mishra et al. (2021), A cleaning module includ ed
within the robot is availab le for use in the cleaning process. The Robot was built to be as small as
possible so that it could access every region and corner of a space. Wireless Bluetooth
Technology is used to operate the operational robot from an Andr oid phone. An Arduino
microcontro lle r was used to build the robot. For the microcontro ller to work effective ly,
communicatio n modules such as Bluetooth motors and a dirt suction system are used in
conjunctio n with the microcontro ller.
Home Cleaning Automat ic robot needs were explored by Abhishek Pandey et al.
Programmab le systems that clean themselves automatica lly are needed to save time. People with
physical disabilitie s were also examined in their research. They needed a cleaning system that
could bring harmony to what we’re saying and so physically help someone in order to get this
done. An autonomous, automated robot is what Sharma et al. (2022), are attempting to construct.
Low -power electric components are used in the autonomous cleaning robot, allowi ng it to run on
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very little power. The Atmega 2560 controlle r board, the ultrasonic detectors, the transforme r IC,
and the motor driver circuit are all powered by electricity. A motor and a gearbox make up the
mechanica l part. In line with the running prog ram, ultrasonic detectors will identify any
obstacles. A 12V, 4.5Ah rechargeable lead acid electrica l device is proposed as the power supply
for the cleaning automated robot.
According to Chen et al. (2018), there was an Automatic Floor Cleaner. Scrubbing the
surface may be done both automatica lly and manually with the help of this project. Dust particles
are removed from the surface (floor or other area) by moving over it when the machine is
activated. In robots with the ability to navigate, the driving fo rce control mechanism is often
utilized to drive the motors, and a few sensors are used to identify and avoid obstacles.
Humanity’s outlook on life may frequently be improved by this method.
A self -cleaning robot floor cleaning system was invented by Manre et Kaur and Preeti
Abrol. This self -driving robot can go one of two directions. All hardware and software duties are
handled by the AT89S52 microprocessor. This self -driving robot is able to sweep and wipe the
floor. Communica tio n between a remote (manua l) and an automated robot (automatic) with a
50m range is done using RF modules An infrared sensor and an automatic water sprayer pump
are included on this robot. In order to clean, a pump and two tires are powered by two separate
motors. It is necessary to employ a twin relay circuit, one for each motor, to power them. The
automated water sprayer is not used in any of the previous works, which only operate in a pre –
programmed manner. All of the jobs are handled by the robot, and if a problem is discovered, t he
robot retraced its steps and returned to its origina l path. The automated robot will be operated
manually using the keypad to execute the necessary task. This approach uses an RF component
IoT Based Floor Cleaner 14
to exchange informatio n between the remote and robot and to disp lay data relating to obstacle
detection on an LCD screen. A 12V battery pack powers the whole electronics.
Burman and Kumar (2021), developed an ultrasonic cleaning robot that is completely
autonomous. Ultrasonic sensors and a single microprocessor AT89C52 allow the robot to avoid
obstacles, regulate its environme nt, and sweep its path. To clean the ground while moving, a
mop is utilized behind the automated robot, and in front of it, a cylindrica l brush is used to sweep
debris into a dustbin as it does so.
Using an autonomous swabbing robot, Mohapatra et al. (2019), has developed a solutio n
for cleaning tasks in homes, offices, and other places where sanitatio n is an issue. Artific ia l
intellige nce (AI) research is being conducted by a slew of organiza tio ns. An area of artific ia l
intellige nce that makes machines sound like humans is certainly within the purview of the
definitio n. The bottom region is swept and mopped with clean and other wiping materials ; dust
and other tiny bits caught. It’s common to see th is small device taught with the aid of a map.
These tools are simple to use, affordable, and thoroughly clean the area. It is possible that one’s
self -relia nce may be to blame for one’s absence.
There is no doubt that Ong and Azir (2020), Cleaning floors u sing a robot and wireless
technologies is shown in this study paper. The proposed robot saves both time and money.
Robotic household appliances and automatic floor cleaner robots have been studied in the past,
but s ome negative s include clashing with items ahead of them and this vacuum not being able to
reach tiny locations, leaving such places filthy. While the robot floor cleaner catches debris, it
fails to clean a damp floor. Few of the problems described in this project paper have been
resolved. Mr. Ami t Sharma, my name is Mr. Amit Sharma.
IoT Based Floor Cleaner 15
The purpose of this study is to develop an automated hybrid home cleaning robot, as stated
by Akash Bhingare et al . (2022) . Which is fully automated and capable of doing tasks such as
sweeping and mopping the floor. Fo llowing the testing, we found that it was able to do all of the
tasks perfectly. It was put to the test in a variety of ways, includ ing obstacle avoidance,
navigatio n, mopping, and vacuuming.
With the current system’s limitatio ns in mind, we propose to build a robot using Arduino
Uno . The Node MCU and an Android phone are used to operate this model’s automatic mode
and manual mode, respectively.
2.3 Overview of IoT
Networking, sensors, big data, and artific ia l intellige nce are all part of this advanced and
powerful automatio n and analytics system, which provides end -to-end solutions for products and
services. Improved visibility, control, and effic ie nc y can be achieved by imple me nting these
soluti o ns across a variety of different systems and industries (Zakaria et al. 2022) . Users of IOT
systems may automate, analyze, and integrate a system at a higher level. These locations have a
greater reach and are more accurate as a result. Sensing, networkin g, and robotics are all part of
the Internet of Things (IOT). Modern views about technology, software advancements, and
hardware price reductions are all contributing factors to IOT’s rapid rise in popularity. There is a
huge shift in the way products, com modities, and services are delivered as a result of its new and
sophisticated aspects. According to Zakaria et al. (2022), IOT systems may be used in a wide
range of sectors because of their capacity to adapt to any environme nt. Smart gadgets and
powerful enabling technologies improve data collecting, automatio n, and operations, among
other things.
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2.3.1 IOT – Features Key
The Internet of Things relies heavily on artific ia l intellige nce, connectivity, sensors,
active engageme nt, and compact device usage. Next, we’ll look at some of the most important
points. The Internet of Things (IOT) is an umbrella term for a wide range of technologie s,
includ ing data collectio n, artific ia l intellige nce algorithms, and networks. A simple example of
this is placing an order in with your local grocery shop after updating your fridge and cabinets to
detect when you’re running low on your favorite cereal.
IoT networks may no longer rely only on huge service providers because of new enabling
technologies for networking, such as Io T networking. It is possible for networks to exist on a
smaller size and yet be helpful. The constructio n of a tiny network enables IOT devices to
communicate with one other. In order for IOT to stand out, it needs sensors. An active system
capable of real -world integratio n can only be created by using these defining instrume nts in the
advancement of IOT . Passive, rather than active, engagement is the norm in today’s interactio ns
with networked technology. The Internet of Things (IOT) introduces a new metho d of interacting
with data, goods, and services. As predicted, electronics have decreased in size, cost, and power
over time. Tiny, purpose -built devices are the foundatio n of IOT’s precision, elasticity, and
flexib ility.
2.3.2 Technol ogy and Protocol s
The IoT network may be used to extend processes. Integrating with important business
systems (such as order manage me nt, robots and more) allows them to perform relevant activities
effic ie ntly.
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2.3.2.1 Data Collection
All of these functio ns are handled by a software: light detection , filtering light data ,
security of light data , and data collectio n. Sophisticated protocols help sensors communica te with
networks that are real time and machine -to-mac hine (M2M). Afterwards, it gathers informa tio n
from various s ources and distributes it in accordance with the preferences you specify. Simila rly,
it distribute s data across devices in the opposite direction. All collected data is eventually sent to
a central server by the system.
2.3.2.2 Device Integration
Integrated soft ware connects all of the IOT system’s components into a single whole. As a
result, interoperability between devices is made easier. Because the system would not be an IOT
network without these applicatio ns, they serve as the defining characteristics of an IOT network.
Various protocols, applicatio ns, and device limitatio ns are all taken care of so that informa tio n
can be exchanged easily.
2.4 Rel ay
An electromagnet, rather than a human, is used to move the switch from the off to the on
position when using a rel ay as an electrical switch. A tiny amount of electricity is required to
switch on a relay, but the relay may control anything that consumes a great deal more power than
this. For example, your home’s air conditioner is managed by a relay . 220VAC at 30A is the
most likely source of power for the AC unit. A whopping total of 6600 watts is involved here!
The contacts of the relay may be pulled together with as little as a few watts of power from the
coil. The schematic diagram of a relay is shown here. It’s ty pical for the top contacts to be open
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(Bhing hare et al. 20 18) . The switch closes when electricity flows through the coil, creating a
magnetic field . A spring normally opens the switch again after power is removed from the coil .
2.4.1 Worki ng Pri nci pl e of Rel ay
Electroma gnetic attraction is at the heart of its operation. Temporary magnetic fields are
created when an electromagne tic field is energized in response to a fault current.
The armature of the relay is controlled by this magnetic field to open or close c ircuits.
Small power relays have just one contact whereas high power relays have two. The following
diagram shows the relay’s interna l workings. A control coil is used to wind an iron core. They’re
linked to each other; thus, they provide the electricity f or the coil. A magnetic field surrounds the
coil as current runs through it. The upper arm of a magnet is drawn toward the lower arm by a
magnetic field. As a result, the circuit is complete and ready for the source and load to be linked
as desired. Reopen ing the contact is the situatio n in this instance.
2.5 Over Vi ew of DC motor
“DC motors” are rotating electrica l devices that convert direct current power into
mechanica l energy. The most common types rely on magnetic fields to create force. Almost all
DC motors employ electrical or electronic systems to sometimes reverse the flow of current in a
particular section of the motor.
Initia lly, DC motors were widely used because they could be powered by systems already
in place for supplying direct current lights . A DC motor’s rotational speed can be greatly altered
by changing the field winding supply voltage or current intensity. In household appliances, toys,
and equipment, small DC motors can be used in a variety of ways (Wang et al. 2020) . Universa l
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mot ors can be used to make portable power equipment and appliances lighte r and more effic ie nt.
There has been an increase in the use of larger DC motors to power elevators, hoists, and steel –
rolling machinery. Advances in power electronics have made it possib le for a wide range of
applicatio ns to benefit from using AC motors instead of DC motors. DC shunt motors can be
found in. In the case of a DC Shunt Motor , it is possible to connect the armature winding to the
field winding . This implies that the supply cu rrent is shared between the armature and the field
windings . Although the armature flow has distinct forks, The current and its field are depicted in
the image below:
Figure 1 DC Shunt Motor
2.5.1 Pri nci pl e of Operati on of Shunt DC Motor
Shunt motors are constructed and designed in the same way as other DC motors. The
essential components of this DC motor are the field windings or the stator, a commutator, and a
rotor or armature. But how does a shunt motor really work? Direct curren t travels through both
the rotor and the stator of shunt motors when they are running . This flowing current will generate
the pole and the armature. The space between the armature and the field windings is surrounded
by two magnetic fields. Their task is t o coordinate their responses in order to rotate and turn the
armature.
Additiona l to these two components, DC motors include an additiona l commutato r. This
happens when there are regular gaps in the commutato r’s path. In this way, the armature field is
IoT Based Floor Cleaner 20
alw ays being pushed back by the pole field, which mainta ins an identica l rotational speed for the
whole time.
2.5.2 Control l ing the Speed of DC Shunt Motors
A Shunt motor’s speed is readily adjustable. Constant speed may be mainta ined with
Shunt motors even when t he load varies (Shalash et al .2022) . The armature’s speed slows down
as the weight of the object rises. As a consequence, there is less repulsio n from the
electromagne tic field. Because of the lower back EMF, there is less resistance to the provided
voltage. As a result, the motor will need more power to operate. Increased current causes an
increase in torque, which helps the vehicle go faster. As a result, an increase in load has
essentially little influe nce on the speed of a Shunt motor (Alawan and Al furaji 2021) . Reduced
loads cause quicker armature movement and higher back EMF . Because the polarity of the back
EMF is the same as that of the supply voltage, load reduction mainta ins the same speed as the
supply voltage.
Always keep in mind that you may alter the speed of your shunt DC motor by adjusting
how much power you feed it, or by adjusting how much power you provide it to its armature.
The current control rheostats used for armature current control are often substantia lly bigger than
those use d for shunt current control because of the armature’s higher current consumptio n. In
most cases, the rated voltage and the maximum rpm of a motor may be found on the packaging.
The torque of Shunt DC motors is lowered when they are operated below their max imum
voltage.
2.5.3 Shunt DC Motor Instal l ati on
IoT Based Floor Cleaner 21
Shunt DC motors may be installed in a matter of minutes. Installatio n is divided into two
parts. Electrica l wiring and associated speed controls are the second part of the installatio n of the
motor and its load. Y ou must ensure that the shafts of the motor and the load are properly aligned
before installing the motor. The tension on the armature bearing is detrimenta l for the motor’s
performance if it is misaligned in any way.
2.5.4 Shunt motors Appl i cati ons
In situatio ns where precise speed control is needed, shunt motors are the best choice. You
should consider them because of their self -regulating speed capabilities. You must remember
that shunt DC motors can’t provide a lot of beginning torque, thus the load at start up has to be
low. Machines and tools like lathes and grinders, as well as industria l equipment like fans and
compressors, meet these parameters and are appropriate for shunt motors.
2.5.5 DC Shunt M otor Equations
For now, let’s analyze the total E and I, which represent the voltage and current sent to the
motor through its electrica l termina l. The shunt wound DC motor provides half of its own power.
The resistance armature winding (R a) is used by I a, while the re sistance field winding (R sh) is
used by Ish. At the same voltage level, both windings of the transformer are connected to each
other. We are now ready to begin composing.
IoT Based Floor Cleaner 22
2.6 Bl uetooth
A high -speed, low -power wireless technology connection is used to connect mobile
devices such as smartphones and other portable electronics. Short distances between mobile and
other network devices may be connected via low -power radio communica tio ns, according to
IEEE 802.15.1. As a rule of thumb, Bluetooth transmissio ns can only reach a maximum of 30
feet before they lose their signal strength (10 meters). This is made feasible by the inclusio n of
devices with low -cost transceivers . It operates in the 2.45GHz band and has three speech
channels and a maximum data rate of 750 KB PS . Industria l, scientific, and medical (ISM)
equipment may utilize this frequency range since it has been designated by internatio na l
agreement for ISM usage. Using the IEEE 802 standard, Bluetooth may connect up to “8
devices” at once, each with it s own 48 -bit address. Connections can be formed from one device
to another or between many devices.
2.6.1 How Doe s Blue tooth Work .
A piconet must have at least two to eight Bluetooth peers in order to operate. Typically,
there is just one master and up to seven slaves. When a gadget first attempts to communicate
with another device, it is referred to as a “master. ” The communicatio n connection and traffic
between the master device and the slave devices connected to it are controlled by the master
device.
IoT Based Floor Cleaner 23
2.6.2 Using a Blue tooth he adse t
When a master and slave device communica te, the slave is called a “slave. ” The
transmit/rec e ive time of slave devices must match that of the masters. Additiona lly, the master
device controls transmissio ns from slave devices . To initia te transmissio ns, a slave may only do
so when the master has addressed it, or within a time period specifica lly allotted for the slave
device. The Bluetooth device address of the master device determines the frequency hopping
sequence (BD ADDR). To begin, the master device sends a radio signal to all of the slave
devices in its range of addresses and asks them for their answer. Slave devices react to the master
device’s hop frequency and clock and synchronize their own. When a device is active in more
than one piconet, it creates a scatternet. In essence, the adjacent device divides up its time slots
across the several piconets in order to maximize effic ie nc y.
2.7 Fini te El ement Anal ysi s
IoT Based Floor Cleaner 24
Finite -ele me nt analysis of the traditiona l bicycle wheel was per formed by Ha bba l and
Dabair (2019). The findings of this analysis were compared to those obtained from the ANSYS
software. The wheel’s displaceme nt, strain, and bending properties were all measured. In this
study, the findings showed that ANSYS modeling may be an effective tool for studying basic
structures such as the traditio na l bike wheel. To evaluate the fatigue life, Sanjaya et al. (2021)
utilized the ABAQUS program to create a static load finite element model of aluminum wheels.
For the prediction of aluminum wheel fatigue life, the fin dings showed that merging finite
element analysis with the nomina l stress approach was effective. The automobile rim was studied
using the finite element approach and 40 loads tests by Sarabandi et al. (2019). The initia l and
optimized versions of the fini te element analysis were each subjected to a stress analysis in the
central region of the rim. As a result of analyzing static stresses, it is possible to identify areas of
high stress concentratio n and recommend a better design. They were compared to thos e from an
experime nta l stand to see which was superior.
Material alloys includ ing forged steel , steel , aluminum , and magnesium were examined in
this study. Finite element analysis may be used to handle a wide range of engineering analytica l
problems. Simpl e geometric structures called “finite elements” are used to discretize the complex
areas that make up a continuum of values. Several separate units make up the analysis (Lu et al.
2015) . Material properties and the regulating connection between them serve as representatio ns
for unknown values. Wheel rims will be subjected to a static examina tio n that places restrictio ns
on the hub. A solidworks model imported into abaqus is used to conduct static analysis on a
wheel rim.
Kankanya et al. (2020), performed re search on the impact of camber angle on tire rim
stress fatigue life and distributio n under radial load circumsta nces. The fatigue life and
IoT Based Floor Cleaner 25
distributio n of stress of a passenger car’s steel wheel are estimated using a finite element analysis
simulatio n. CATIA was recommended by Gothali et al. (2019) for rim modeling. In the future,
this CATIA model will be exported to ANSYS and used in the analysis process. The mos t recent
version of ANSYS software is used to simula te the various forces and pressures operating on the
component as well as to calculate and evaluate the results. Engineers used ANSYS static analysis
to compare the performance of two distinct materia ls: aluminum and forged steel; both
performed well. In addition to the modal analysis of the rim, the performance of the rim is also
examined as part of the dynamic analysis. Static and modal analysis findings have shown that
forged steel is the optimum materi a l for this project.
2.7.1 Study of the Whe e l Rim
In this comprehensive static study, we look at the displaceme nt of the wheel rims, their
maximum and minimum vonmises stresses, as well as their fatigue lifecyc les . Following the
procedures of the study, steel, aluminum alloy, magnesium, and forged steel were evaluated.
Definitio n of Boundary Conditions putting pressure on the system Characteristics of the
substance.
This steel alloy has a Youngs modulus (E) of 2.34 × 10 5 / 2 and a yield stress of
200 / 2 to break. It weighs 7800 kg per square meter.
It has a density of 2500 / 3and a Youngs modulus (E) of 25000 / 2. Its yield
stress is 125 / 2. A magnesium alloy with a modulus of 25000 / 2. and a yield stress
of 125 / 2.
Forged steel has a Youngs modulus (E) of 2 00000 / 2and a yield stress of 220
/ 2
IoT Based Floor Cleaner 26
2.7.2 Wheel Ri m Desi gn
Solid structures may be modeled in 3 -D with SOLID45. The element’s eight nodes are
defined by the nodal x, y, and z translatio ns. Three degrees of freedom are available to each
node. An.hm file containing the wheel rim’s meshed model is loaded into ANSYS Software from
Hyper Mesh Software (IGES files may be imported using (file>Impo rt> IGES) . A steel,
magnesium alloy, and aluminum, as well as a forged steel me sh, are subjected to static analysis
model that has been previously described.
Circulatio n, = 2 = 2× 22
7×2× /60 / = centrifuga l force 24 kilogra ms is
the mass.
600 revolutio ns per minute is 62.8 revolutio ns per second. The centrifuga l force of 2 0.5kN at
each node of the circle of the rim was obtained after replacing.
2.7.3 Boundari es and Loadi ng.
Compressive and tensile stress are measured by applying a load of 2 0.5kN to the bolt holes in
the rim of the wheel. X, Y, and Z directions are all stationary. Rotation in all three directions is
zero. There is no angular velocity in any of the three directions . The six holes on the rim were
subject to the same conditio ns.
 A similar force is exerted on the holes as a result of this loading situatio n
 Putting pressure on the system
 The bolts can be added after this mesh model has been constrained at the holes in all
degrees of freedom. Before applying the centrifuga l force of 20.5 kN, the mesh model is
limited. The results of the investigatio n were disco vered in the SOLVER component.
Once this is done, the kind of analysis is switched from modal to static to complete the
process. Results such as von Mises stresses and displaceme nts were calculated.
IoT Based Floor Cleaner 27
3 P roject Design Specification
Requirements
 Bread Board – Half Size
 Arduino Uno
 Vacuum Pump – 12V
 L298N Motor Driver Board Module
 Diode Rectifier – 1A 50V
 Relay Module
 LCD Display 20×4 I2C
3.1 El ectri cal Design
The methods used to integrate software and hardware into the system were diverse. Figure
1 depicts the system’s block diagram. Our system was built using Arduino, a 12VDC motor, an
L293D IC, many sensors, and a real -time clock. Sensors in the region around the robotic vacuum
will offer informatio n about its surround ings, which the vacuum will collect. A dig ita l compass,
sonar, and touch sensors are among the sensors. In the future, the documentatio n will go into
further detail on each of these components. The chip will compute which direction the vacuum
should move based on the data from these sensors and th en send control signa ls to the drive
motors.
3.1.1 Ardui no Uno
Boards for microcontro lle rs like Arduino Uno (datasheet). With 54 digita l and 16 analog
input/outp ut pins, four UARTs (hardware serial ports), a USB connection, power, and reset
buttons, the device is complete . Vacuum Ultrasonic Sensor Switches Auto/Manua l IR Detectors
IoT Based Floor Cleaner 28
Sensors with Low Dynamic Range (LDR) Power Regulator, Battery, and both motors Robotic
Vacuum Cleaner Micro Controller LCD Display MOTOR: CHIP Clock That Shows the Actual
Time 9 Includ es an AC -to-DC converter or battery and a USB cable for easy set -up with the
microcontro lle r .
3.1.2 Vacuum Cle ane r
To clean floors, upholstery, draperies, and other surfaces with the use of suction, this
machine is used The term “vacuum” may refer to both a va cuum cleaner and a machine that uses
one. Electric ity is the most common source of power. The dirt is collected and disposed of using
dust bags or cyclones. Major stationary industria l appliances, wheeled canister vacuums for
home use and residentia l centr al vacuum cleaners are all types of vacuum cleaners. Self –
propelled vacuum trucks are used to recover large spills or to remove contaminated dirt from the
ground. Specialized shop vacuums are useful for collecting dust and liquids. Tools, brushes, and
wand extensions are typically provided with vacuum cleaners, making it feasible to clean areas
that would otherwise be inaccessib le.
3.1.3 DC Pump
Mechanica lly, a pump is a device that transfers fluids (liquid or gas) or slurries When it
comes to pumping fluids. Pumps are mechanica l devices that move fluid by doing mechanica l
IoT Based Floor Cleaner 29
work. They need energy to do this. Mechanica l, electrical, engine, or wind power may all be
used to power pumps, which come in many shapes and sizes, from the tiny for medical usage to
the massive for industria l use. It is possible to use mechanica l pumps for anything from pumping
water from wells, to filtering fish tanks in aqua riums, to aerating fish ponds and running cooling
towers in heating, ventilatio n, and air conditioning (HVAC). Pumps are employed in the medical
sector for biochemica l processes in researching and producing pharmaceutica ls, and as artific ia l
substitute s fo r bodily components, such as the artific ia l heart and penile prosthesis.
3.1.4 IC L2 98N for motor control
Simple and safe is the well -known L298N chip. It contains sixteen pins. The pin
configura tio n of an L298N and the behavior of the motor under differe nt in put conditio ns are
shown in the figure above. The L298N can provide up to 600 mA of bidirectio na l driving current
across a voltage range of 5 V to 40 V. The related drivers are activated when enable input is
high . Output signals that are both active and in phase with their inputs are also provided by these
devices. These drivers are disabled and their outputs are adjusted to high impedance when the
enable input is low. A solenoid or motor may be driven in either direction using any combinatio n
of these driv ers.
IoT Based Floor Cleaner 30
3.1.5 Rel ay Control
 volts DC is the standard voltage for most devices.
 At 250VAC or 125VAC, the maximum AC load current is 10A, while the normal current
is 70mA.
 When operating at a voltage of 30 volts direct current (DC), the maximum DC load
current is 10 amps (A).
 It comes with five pins and is made of plastic. ‘
 Operating time is 10 msec.
 5 msec is the release time.
 More than 300 operations per minute are possible.
Normal Open (NO): Unless the relay module’s signal pin is signa led, this pin is normally open. If
you want to build a connection via the common contact, you must first crush the link through the
NC pin. This pin is designated as the “common contact” and is used to link the module to the
load it will be switching.
NC: This NC pin is linked to the COM pin so that a closed circuit may be established. When the
microcontro lle r sends a high/low active signa l to the signal pin of the relay, the NC connection
will be sev ered.
IoT Based Floor Cleaner 31
3.1.6 Dire ct Curre nt (DC) M otor
Electric motors are responsible for almost every mechanica l action we observe around us.
Conventio na l energy may be converted using electric machinery . Mechanics use motors to
convert electric ity into motion. Hundreds of e veryday items are propelled by electric motors.
Automobile s, food blenders, and vacuum cleaners are all examples of motorized devices that are
often seen in our daily lives.
3.1.7 LED Di spl ay Modul e 20X4
It is a kind of flat -pane l display that employs liquid crystals to modulate light in order to
produce a visual display. Direct light emission from liquid crystals is not possible. The 20×4
LCD has four rows of 20 characters each, therefore a total of 80 characters may be shown at any
one moment.
IoT Based Floor Cleaner 32
3.1.8 Bl uetooth (HC – 06)
Bluetooth is well known for its applicatio n in connecting with a mobile phone or cell
phone. Using a Bluetooth device, the robot can receive and broadcast data from a mobile phone
(HC -06). This converter may be used to convert serial ports to Bluet ooth. There are two modes
availab le : Master and Slave: Bluetooth is a wireless communicatio n technology that runs at 2.4
GHz and has a client -serve r architecture, making it ideal for creating personal area networks
(PAN). It has been designed for smartphon es and other mobile devices (low power). The
Bluetooth protocol makes use of the MAC address of a Bluetooth device. The MAC address is
used by Bluetooth to create connections between devices.
Expe rime ntal Se tup
Place Arduino Uno
Place Vac uum Pump
Place DCMDriverL298
Place DC Motor B
Place DC Motor B
Place Relay Module
Place LCD20X4I2C
IoT Based Floor Cleaner 33
Place DIRect1A50v
Place DC Motor B
Place TNMOSFETFQP
Place Res10KO
Place BTHC05
Place TNMOSFETFQP
Place Res10KO
Place Barrel Jack
PIN Configuratio n
1 Connect Arduino Uno
ArduinoUno Vin to Bus POS
Ard uinoUno GND to Bus GND
2 Connect VaccumPump
IoT Based Floor Cleaner 34
VaccumPump Coil1 to TNMOSFETFQP D
VaccumPump Coil2 to Bus POS
3 Connect DCMDriverL298
DCMDriverL298 OUT1 to DCMotorB Coil2
DCMDriverL298 OUT2 to DCMotorB Coil1
DCMDr iverL298 OUT3 to DCMotorB Coil2
DCMDriverL298 OUT4 to DCMotorB Coil1
DCMDriverL298 12V to Bus POS
DCMDriverL298 ENA to Arduino Uno 5
DCMDriverL298 ENB to Arduino Uno 6
DCMDriverL298 GND to Bus GND
DCMDriverL298 INT1 to Arduino Uno 2
DCMDriverL298 INT2 to Arduino Uno 4
DCMDriverL298 INT3 to Arduino Uno 7
IoT Based Floor Cleaner 35
DCMDriverL298 INT4 to Arduino Uno 8
4 Connect Relay Module
Relay Module ground to Bus GND
Relay Module signal to Arduino Uno 12
5 Connect LCD20X4I2C
LCD20X4I2C GND to Bus GND
LCD20X4I2C SCL to Arduino Uno A5
LCD20X4I2C SDA to Arduino Uno A4
6 Connect DIRect1A50v
DIRect1A50v pos to TNMOSFETFQP D
DIRect1A50v neg to Bus POS
Connect DC Motor B
DC Motor B Coil1 to TNMOSFETFQP D
DC Motor B Coil2 to Bus POS
IoT Based Floor Cleaner 36
7 Connect TNMOSFETFQP
TNMOSFETFQP G to Arduino Uno 9
TNMOSFETFQP G to Res10KO con1
TNMOSFETFQP S to Bus GND
8 Connect BTHC05
BTHC05 GND to Bus GND
BTHC05 TX to Arduino Uno 10
BTHC05 RX to Arduino Uno 3
BTHC05 VCC to Arduino Uno 5v
BTHC05 VCC to Relay Module power
BTHC05 VCC to DCMDriverL298 5V
BTHC05 VCC to LCD20X4I2C VCC
9 Connect TNMOSFETFQ P
TNMOSFETFQP G to Res10KO con1
IoT Based Floor Cleaner 37
TNMOSFETFQP G to Arduino Uno 11
TNMOSFETFQP S to Bus GND
10 Connect Barrel Jack
Barrel Jack pos to Bus POS
Barrel Jack neg to Bus GND
11 Connect to Computer and Power Supply
Using a USB cord, I connected the Arduino board to my computer. The power supply should be
connected and operating correctly. (Batteries are fully charged, and the wall adapter is plugged
in) .
12 Connect PowerSupply12 v2A
13 Connect USB Power B
14 Upload Code
Te sting
IoT Based Floor Cleaner 38
Test Vac uum Pump
The Arduino board was connected to computer via USB cable
Open Arduino IDE
Click Tools -> Serial Monitor
Follow instructio ns on the Serial Monitor
Test DCMDriverL298B
Open Arduino IDE
Click Tools -> Serial Monitor
Follow instructio ns on the Serial Monitor
If nothing happens, please check the connections
Test Relay Module
Open Arduino IDE
Click Tools -> Serial Monitor
Follow instructio ns on the Serial Monitor
If nothing happ ens, please check the connections
Test LCD20X4I2C
Open Arduino IDE
IoT Based Floor Cleaner 39
Click Tools -> Serial Monitor
Follow instructio ns on the Serial Monitor
If the LCD is on but not showing prints, try turning the trimme r on the I2C backpack.
If nothing happens, please check the connections
Test DCMotorB
Open Arduino IDE
Click Tools -> Serial Monitor
Follow instructio ns on the Serial Monitor
If nothing happens, please check the connections
Test BTHC05_SoftwareSeria l
Open Arduino IDE
Click Tool s -> Serial Monitor
Follow instructio ns on the Serial Monitor
If nothing happens, please check the connections
IoT Based Floor Cleaner 40
Codes
// Include Libraries
#include “Arduino. h”
#include “BTHC05.h”
#include “DCMDriverL298. h”
#include “DCMotor.h”
#include “LiquidCrysta l_PCF8574.h”
#include “Relay. h”
#include “Pump.h”
// Pin Definitio ns
IoT Based Floor Cleaner 41
#define BTHC05_PIN_TXD 3
#define BTHC05_PIN_RXD 10
#define DCMOTORDRIVERL2 98_P IN_INT1 2
#define DCMOTORDRIVERL298_P IN_ENB 6
#define DCMOTORDRIVERL298_P IN_INT2 4
#define DCMOTORDRIVERL298_P IN_ENA 5
#define DCMOTORDRIVERL298_P IN_INT3 7
#define DCMOTORDRIVERL298_P IN_INT4 8
#define DCMOTOR_PIN_COIL1 9
#define RELAYMODULE_PIN_SIGN AL 12
#define VACCUMPUMP_PIN_COIL1 11
// Global variables and defines
// There are several differe nt versions of the LCD I2C adapter, each might have a different
address.
// Try the given addresses by Un/comme nting the following rows until LCD works follow the
serial monitor prints.
// To find your LCD address go to: http://pla ygro und.ard uino.cc/Ma in/I2cSca nne r and run
example.
#define LCD_ADDRESS 0x3F
//#define LCD_ADDRES S 0x27
// Define LCD characteristics
#define LCD_ROWS 4
IoT Based Floor Cleaner 42
#define LCD_COLUMNS 20
#define SCROLL_DELAY 150
#define BACKLIGHT 255
// object initia lizatio n
BTHC05 bthc05(BTHC05_PIN_RXD, BTHC05_PIN_TXD);
DCMDriverL298
dcMotorDriverL298(DCMOTORDRIVERL298_P IN_ENA, D CMOTORDRIVERL298_PIN_IN
T1,DCMOTORDRIVERL298_PIN_IN T2,DCMOTO RDRIVERL298_PIN_ ENB,DCMO TORD
RIVERL298_PIN_INT3,DCMOTORDRIVERL298_PIN_INT4 );
DCMotor dcMotor(DCMOTOR_PIN_COIL1);
LiquidCrysta l_PCF8574 lcd20x4;
Relay relayModule(RELAYMODULE_P IN_SIGNAL);
Pump vaccum pump(VACCUMP UMP_PIN_COIL1);
// define vars for testing menu
const int timeout = 10000; //define timeout of 10 sec
char menuOptio n = 0;
long time0;
// Setup the essentials for your circuit to work. It runs first every time your circuit is powered
with electric ity.
void setup()
IoT Based Floor Cleaner 43
{
// Setup Serial which is useful for debugging
// Use the Serial Monitor to view printed messages
Serial.begin(9600 );
while (!Serial) ; // wait for serial port to connect. Needed for native USB
Serial.println(“start”);
bthc05.begin(9600 );
//This example uses HC -05 Bluetooth to communicate with an Android device.
//Download bluetooth termina l from google play store,
https://p la y. goo gle.co m/sto re/app s/de ta ils? id=Qwerty. BluetoothTe r mina l&hl=e n
//Pair and connect to ‘HC -05’, the default password for connection is ‘1234’.
//You should see this message from your arduino on your android device
bthc05.println(“Blue tooth On….”);
// initia lize the lcd
lcd20x4.begin(LCD _CO LUMNS, LCD_ROWS, LCD_ADDRESS, BACKLIGHT);
menuOptio n = menu();
}
// Main logic of your circuit. It defines the interactio n between the components you selected.
After setup, it runs over and over again, in an eternal loop.
void loop()
IoT Based Floor Cleaner 44
{
if(me nuOptio n == ‘1’) {
// HC – 05 Bluetooth Serial Module – Test Code
String bthc05Str = “”;
//Receive String from bluetooth device
if (bthc05.availab le ())
{
//Read a complete line from bluetooth termina l
bthc05Str = bthc05.readStringUntil(‘ n’);
// Print raw data to serial monitor
Serial.print(“BT Raw Data: “);
Serial.println(b thc05Str);
}
//Send sensor data to Bluetooth device
bthc05.println(“P UT YOUR SENSOR DATA HERE”);
}
else if(me nuOptio n == ‘2’) {
// L298N Motor Driver with Dual Micro DC Motors (Geared) – Test Code
//Start both motors. note that rotation direction is determined by the motors connection to the
driver.
IoT Based Floor Cleaner 45
//You can change the speed by settin g a value between 0 -255, and set the direction by
changing between 1 and 0.
dcMotorDriverL298.setMoto rA(200,1 );
dcMotorDriverL298.setMoto rB(200,0);
delay(2000);
//Stop both motors
dcMotorDriverL298.stop Motors();
delay(2000);
}
else if(me nuOptio n == ‘3’) {
// Micro DC Motor (Geared) – 90 RPM (6 -12V) – Test Code
// The DC motor will turn on and off for 4000ms (4 sec)
dcMotor.on(200); // 1. turns on
delay(4000); // 2. waits 4000 milliseco nds (4 sec). change the value in the
brackets (4000) for a longer or shorter delay.
dcMotor.off(); // 3. turns off
delay(4000); // 4. waits 4000 milliseco nds (4 sec). change the value in the
brackets (4000) for a longer or shorter delay.
}
else if(me nuOptio n == ‘4’) {
// LCD Display 20×4 I2C – Test Code
IoT Based Floor Cleaner 46
// The LCD Screen will display the text of your choice.
lcd20x4.clear(); // Clear LCD screen.
lcd20x4.selectLine (2); // Set cursor at the begining of line 2
lcd20x4.print(” Circuito. io “); // Pri nt print String to LCD on first line
lcd20x4.selectLine (3); // Set cursor at the begining of line 3
lcd20x4.print(” Rocks! “); // Print print String to LCD on second line
delay(1000);
}
else i f(me nuOptio n == ‘5’) {
// Relay Module – Test Code
// The relay will turn on and off for 500ms (0.5 sec)
relayModule.o n(); // 1. turns on
delay(500); // 2. waits 500 milliseco nds (0.5 sec). Change the value in the brackets
(500) for a longer or shorter delay in milliseco nds.
relayModule.o ff(); // 3. turns off.
delay(500); // 4. waits 500 milliseco nds (0.5 sec). Change the value in the brackets
(500) for a longer or shorter delay in milliseco nds.
}
else if(me nuOptio n == ‘6’) {
// Vacuum Pump – 12V – Test Code
// The water pump will turn on and off for 2000ms (4 sec)
vaccumpump.o n(); // 1. turns on
IoT Based Floor Cleaner 47
delay(2000); // 2. waits 500 milliseco nds (0.5 sec).
vaccumpump.o ff ();// 3. turns off
delay(2000); // 4. waits 500 milliseco nds (0.5 sec).
}
if (millis() – time0 > timeout)
{
menuOptio n = menu();
}
}
// Menu functio n for selecting the components to be tested
// Follow serial monitor for instrcutio ns
char menu()
{
Serial.println(F (” nW hic h component would you like to test?”));
Serial.println(F (“(1 ) HC – 05 Bluetooth Serial Module”));
Serial.println(F (“(2 ) L298N Motor Driver with Dual Micro DC Motors (Geared)”));
IoT Based Floor Cleaner 48
Serial.println(F (“(3 ) Micro DC Motor (Geared) – 90 RPM (6 -12V)”));
Serial.println(F (“(4 ) LCD Display 20×4 I2C”));
Serial.println(F (“(5 ) Relay Module”));
Serial.println(F (“(6 ) Vacuum Pump – 12V”));
Serial.println(F (“(me nu) send anything e lse or press on board reset button n”));
while (!Serial.ava ilab le ());
// Read data from serial monitor if received
while (Serial.ava ilab le())
{
char c = Serial.read();
if (isAlphaNumeric(c ))
{
if(c == ‘1’)
Serial.println(F (“Now Testing HC – 05 Bluetooth Serial Module”));
else if(c == ‘2’)
Serial.println(F (“Now Testing L298N Motor Driver with Dual Micro DC
Motors (Geared)”));
else if(c == ‘3’)
Seria l.println(F (“Now Testing Micro DC Motor (Geared) – 90 RPM (6 –
12V)”));
else if(c == ‘4’)
IoT Based Floor Cleaner 49
Serial.println(F (“Now Testing LCD Display 20×4 I2C”));
else if(c == ‘5’)
Serial.println(F (“Now Testing Relay Module”));
else if(c == ‘ 6’)
Serial.println(F (“Now Testing Vacuum Pump – 12V”));
else
{
Serial.println(F (“ille ga l input!”));
return 0;
}
time0 = millis();
return c;
}
}
}
3.2 Mechani cal Desi gn
The chassis, vacuum cleaner, and dirt collector are all components of mechanica l design.
The chassis is made of a rectangular piece of wood with dimensio ns of 80 cm in length and 40
cm in width, from which all of the model’s components will be attached. The vacuum pump
nozzle is equipped with a dirt collector made of a plastic bottle. It is used in conjunctio n with a
vacuum cleaner.
IoT Based Floor Cleaner 50
3.2.1 Chassi s
The chassis is the robot’s primary body, a nd it houses all of the robot’s components. For
the chassis, we employ an inexpensive, readily accessible, and very strong light wood frame. We
redesigned it to meet our needs. As far as weight goes, it’s capable of holding 10 kg.
3.2.2 Sweeper
The floor is clea ned primarily by the mop, which is the major component of the machine.
To clean the floor, we utilized a circular mop powered by a DC motor. In between the wooden
casters, it’s put together underneath the frame.
3.2.3 Vacuum Pump
The robot’s frontal section h ouses the vacuum, which is used to remove dust. In order to
capture all the dust, it sucks it in. The 12V battery powers the vacuum.
3.2.4 Wheel i ng System
In this case, we’re using 4 little rubber -coated wheels to move the machine. Powered by two DC
motors, each wheel rotates at 50 revolutio ns per minute (RPM). A microcontro lle r drives these
wheels.
IoT Based Floor Cleaner 51
3.2.4.1 Finite Element Analysis of the Wheel
Prototypes have been b uilt and tested. In order to show the usefulness and valid ity of the
designed system , the FEM was used to design the supporting mechanism and materia l. The FEM
is used to study the mechanica l properties of the supporting mechanism’s mathematica l model.
For the support mechanism and guiding rod, stress and deformatio n are studied. The findings
reveal that the supporting mechanism and the materials operate very well under operating
conditions, with minima l displaceme nt and low stress. The supporting mechanism and guiding
rod have suffic ie nt strength and stiffness to assure the overall dependability of the robot system.
Figure 2 Wheel Model
IoT Based Floor Cleaner 52
Figure 3 The resultant deformation of the wheels when subjected to different forces.
Static structura l study is performed on an aluminum alloy A356.2wheel rim with a
circumfere ntia l pressure of 0.24821MPa. A total of 0.13007mm of deformatio n can be seen in
the rim region, the least overall distortion at the hub part. Stress in the core is 2.7152e -3MPa,
whereas stress at rim 24.661MPa are similar. It has a maximum stress intensity of 25.426MPa,
and a minimum stress intensity of 2.7864e -3MPa. Stress ratios are measur ed in megapascals
(MPa). The lowest is 1.857e -5MPa, and the highest is 0.10769MPa; There is more emphasis on
hub safety than rim safety since the rim bears the most weight, whereas the hub bears a little
amount of weight.
IoT Based Floor Cleaner 53
3.3 Appl i cati on System
The app used this project is Blynk App. For both manual and automated modes of
operation, this will be the tool of choice. For the Internet of Things, Blynk was built. Among its
many useful capabilitie s are the ability to remotely manage physical components, to see and
interact with sensor data, to store data, and to visualize it.
Widgets may be used as provided by Blynk to develop stunning user interfaces for your projects.
Blynk App enables you to do this. It is the Blynk Server that is in charge of all communica tio n
between the mobile device and whatever hardware it is connected to. You may either utilize the
Blynk Cloud or run your own Blynk server on your own computer. In addition to being free and
open -source, it can be run on a Raspberry Pi. To communic ate with a server, Blynk Libraries are
required for all common hardware platforms. These librarie s handle all incoming and outgoing
instructio ns. After pressing a button in the Blynk app and sending a signal to Blynk Cloud, your
hardware receives a notificatio n. Ever ything occurs in the blink of an eye in the other way as
well.
3.3.1 Bl ynk App setup
With the most current version of the Arduino IDE installed, I installed The Blynk Arduino
library before anything else can proceed. The Blynk app was installed in the Andro id phone and
provided a link via the Arduino Library.
IoT Based Floor Cleaner 54
The following code and Blynk settings were tried after the IDE setup to see whether pin 13
could be used to control the LCD. The Arduino IDE was used to copy and paste the code above .
The Blynk App was then installed. We started by creating another Arduino 101 board, which we
then connected through Bluetooth. Connect the button to a virtua l pin as seen in the picture
below.
IoT Based Floor Cleaner 55
Bluetooth was linked by pressing the board’s Bluetooth icon and selecting “Connect BLE
Device” once the code was copied into Arduino and turned on. The “Run” button was clicked at
the project’s very top, at the very beginning. The button was turned on and off by pushing and
releasing it.
4 Results
The experiment functio ned as desired when operated using the Blynk app installed in the
phone. The automatic cleaning machine created have 4 wheels controlled by motor and motor
drive which move the system in forward and backward. The vacuum cleaner cleaned the floor by
removing the dusts from the floor before wet cleaning. The two mopper/cleaner that was
attached to a separate motor was rotating as expected to clean the floor. After cleaning the floor
the Dryer was switched to dry the floor. The Dc pump pumped water from the container of 10L
to wet clean the floor hence proper cleaning . The remote -control mechanism of the system was
enabled by the Blynk App which connected to the Arduino via Bluetooth.
From the Finite Element Analy sis carried out on wheel which was subjected to differe nt
external force based on the working environme nt and the weight it the , it was observed the steel
aluminum alloy is the best to be used in this design. The aluminum alloy showed a little change
IoT Based Floor Cleaner 56
when subjected to the expected magnitud e of the external forces . The chassis board also was
able to withstand the weight of the system components.
This model is created in CATIA and then imported into ANSYS for further processing.
All wheel rims are subjected to a 0.24821 -inch -radius load in pressure loading, which is the same
for aluminum alloys A356.2 and 6061. In vertical loading, the wheel rim is subjected to a
vertical load of 9496 N for both Aluminum Alloy A356.2 and 6061. The following are the
findings b ased on the data: When compared to aluminum alloy 6061, the A356.2 wheel rim
deforms more readily. Both situatio ns have stress levels below the yield strength, indicating that
the design is secure. Both von -mises stress and ultima te strength are lower in b oth circumsta nces.
When compared to aluminum alloy A356.2, 6061 alloy wheel rims have a longer lifespa n.
Aluminum alloy A356.2 has greater alternating stress than aluminum alloy 6061. We may
conclude from the results that aluminum alloy 6061 is a superior materia l for alloy wheel design
when compared to aluminum alloy A356.2.
5 Discussions
I ha ve created a floor cleaning robot for the IOT in this system. This robot has a vacuum,
dry and wet cleaning mechanism. The Internet of Things (IoT) is used to operate this robot. The
Blynk App for the Internet of Things (IoT) is used to remotely operate the Floor Cleaning
machine from anywhere in the world. Arduino, LCD Module, Vacuum Clean er, IoT Wifi
Module, DC Pump, Blynk Applicatio n, and Battery are some of the key components in this
system’s creation. Users will have access to an IOT -based Blynk Android App upon which to
operate th is device. Internet connectivity is required for both th e mobile phone and the robot.
The Blynk Applicatio n’s user interface /co ntro l panel includes buttons like (Forward, Backward,
IoT Based Floor Cleaner 57
Left, Right, and Pump ON/OFF, Vacuum ON/OFF). Using the Blynk Applicatio n, a user’s
command is wirelessly sent to a system through the internet . Sending a signa l to an Arduino
Microcontroller is done by the Bluetooth , which receives an instructio n via the Internet. The data
is processed by the microcontro ller unit, which in turn controls the DC motors and the relay unit.
Robotic Movem ents and Dry or Wet Cleaning Status are shown on an LCD Module for user
notice.
The DC Powered Vacuum cleaner is used for dry floor cleaning, while the Water
Sprinkler with cylindrica l mopping roller is used for wet floor cleaning. 12V / 4.5 Ah batteries
power the whole system. It has a 230/12V step -down transforme r in the power supply and
charging area of the system, which is utilized for reducing the voltage to 12VAC. A bridge
rectifie r is used to convert it to DC. To eliminate ripple, a capacitive filte r employs a 7805 –
voltage regulator to get the supply voltage up to the +5V the microcontro ller and other
components need. A separate 12V / 3Amp transformer -based power supply system is employed
to power the vacuum cleaner.
6 Conclusion and Recommendation
Effe ctive cleaning of the floor surfaces is made easier with the help of this mop and
bucket. A smart phone may be used to control this floor cleaner. Using this method, you may
save money on labor costs as well as time, all while getting a thorough cleaning. The
microcontro lle r -based floor cleaning robot is used in the suggested approach to remove dust and
other debris from the floor. There are four essential parts to the floor cleaner: the DC gearmotor,
motor driver, vacuum cleaner, and DC pump. The Microcont ro ller board interfaces with the DC
geared motor and other components. Floor cleaning systems in homes, hotels, workplaces, and
hospitals may all benefit from the system.
IoT Based Floor Cleaner 58
The new model is more flexib le and cost -effective. This model is more user -frie nd ly
since it features a scheduling functio n that is handled via an Android applicatio n. Disabled folks
with mobility concerns might potentially benefit from the model’s automatic cleaning option.
Homeowners may take advantage of this design to save time and imp rove their quality of life. It
may also be upgraded to be used in industrie s and factories as well.
Differe nt brushes may be used depending on the floor’s nature in future enhanceme nts to
this project. It is necessary for the user to replace the brushes by hand, depending on the kind of
floor being cleaned. In manual mode, the robot may be controlled by a human being. There is a
possibility of employing IOT in the Municip a lity’s rough surface cleaning project.
This model is created in CATIA and then importe d into ANSYS for further processing.
All wheel rims are subjected to a 0.24821 -inch -radius load in pressure loading, which is the same
for aluminum alloys A356.2 and 6061. In vertical loading, the wheel rim is subjected to a
vertical load of 9496 N for both Aluminum Alloy A356.2 and 6061. The following are the
findings based on the data: When compared to aluminum alloy 6061, the A356.2 wheel rim
deforms more readily. Both situatio ns ha ve stress levels below the yield strength, indicating that
the design is secure. Both von -mises stress and ultima te strength are lower in both circumsta nces.
When compared to aluminum alloy A356.2, 6061 alloy wheel rims have a longer lifespa n.
Aluminum all oy A356.2 has greater alternating stress than aluminum alloy 6061. We may
conclude from the results that aluminum alloy 6061 is a superior materia l for alloy wheel design
when compared to aluminum alloy A356.2.
IoT Based Floor Cleaner 59
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8 Appendices
Appendix 1: The Code used for Blynk App
IoT Based Floor Cleaner 64
Appendix 3: FEA Analysis of the wheel Rim
IoT Based Floor Cleaner 65
Appendix 3: The graphical Plot of Mechanical Stress Behavior of Rim