PROJECT REPORT

On
IoT Based Floor Cleaning Robot with Live Streaming Camera

Submitted for Partial Fulfillment of Award of

BACHELOR OF TECHNOLOGY
In

Electrical Engineering
By
Paritosh Kumar Rai (2104220209009)
Sahil Ramzan (2104220209009)
Anuradha Tiwari (2104220209009)
Palak Gaur (2104220209009)

Under the Guidance

of
Dr. Rachit Srivastava

BANSAL INSTITUTE OF ENGINEERING AND TECHNOLOGY,

LUCKNOW

Affiliated to
Dr. A.P.J. Abdul Kalam Technical University Lucknow
 CERTIFICATE

This is to certify that project entitled “IoT BASED FLOOR CLEANING

ROBOT WITH LIVE STREAMING CAMERA” submitted by PARITOSH
KUMAR RAI (2104220209009), SHARAD CHANDRA PANDEY
(2104220209014), ANURADHA TIWARI (2104220209006), AMAN KUMAR
(2004220200003) in partial fulfilment for the award of the degree of Bachelor
of Technology in “Electrical Engineering” at Bansal Institute of Engineering
& Technology, Lucknow (U.P.), India from Dr. A.P.J. Abdul Kalam Technical
University, Lucknow under my supervision. The project embodies results of
original work and studies carried out by student himself and contents of the
project do not form the basis for the award of any other degree to candidate or
to anybody else.

Dr. Rachit Srivastava Dr. Anurag Dwivedi

(Assistant Professor) (Associate Professor and HOD)
Dept. of Electrical Engineering Dept. of Electrical Engineering
BIET, Lucknow (U.P), India BIET, Lucknow (U.P), India
 CANDIDATE'S DECLARATION

We hereby certify that the work which is being presented in the project report
entitled “IoT BASED FLOOR CLEANING ROBOT WITH LIVE
STREAMING CAMERA” submitted by PARITOSH KUMAR RAI
(2104220209009), SHARAD CHANDRA PANDEY (2104220209014),
ANURADHA TIWARI (2104220209006), AMAN KUMAR (2004220200003)
in partial fulfilment of requirements for the award of degree of B.Tech.
submitted in the Department of Electrical Engineering at “Bansal Institute of
Engineering & Technology, Lucknow (U.P.)” under Dr. A.P.J. Abdul Kalam
Technical University, Lucknow is an authentic record of our own work carried
out during a period from SEPTEMBER 2023 To DECEMBER 2023 under the
supervision of Dr. Rachit Srivastava.
This is to certify that the above statement made by us is correct to the best of
our knowledge.

PARITOSH KUMAR RAI (2104220209009)

PARITOSH KUMAR RAI (2104220209009)
PARITOSH KUMAR RAI (2104220209009)
PARITOSH KUMAR RAI (2104220209009)
 ABSTRACT

In recent years, the integration of the Internet of Things (IoT) in domestic

automation has led to significant advancements in home cleaning technologies.
This paper presents the design and development of an IoT-based floor cleaning
robot equipped with a live streaming camera. The primary objective is to create
an autonomous cleaning solution that not only performs efficient floor cleaning
but also provides real-time monitoring capabilities to the user. The proposed
system utilizes a combination of sensors, microcontrollers, and a Wi-Fi module
to facilitate seamless communication between the robot and a remote user
interface. The cleaning mechanism incorporates brushes and vacuum
functionality to effectively remove dust and debris from various floor surfaces.
The live streaming camera, mounted on the robot, offers users the ability to
observe the cleaning process in real-time via a mobile application or web
interface. The robot navigates autonomously using an array of sensors including
ultrasonic, infrared, and bump sensors to detect obstacles and avoid collisions. A
path planning algorithm is implemented to optimize the cleaning route, ensuring
comprehensive coverage of the area. Additionally, the system is equipped with a
recharging dock to enable automatic return and charging when the battery level
is low. To enhance user interaction, the mobile application provides features
such as remote control, scheduling, and status updates. Users can start, stop, and
monitor the cleaning process from anywhere, ensuring convenience and control
over the home environment. In conclusion, the IoT-based floor cleaning robot
with a live streaming camera represents a significant advancement in smart
home cleaning technology. It offers an efficient, user-friendly, and automated
solution for maintaining clean floors while providing the added benefit of real-
time monitoring and control. Future work will focus on improving the robot's
intelligence through machine learning algorithms and expanding its
functionality to include other cleaning tasks.
This abstract highlight the key components and innovations of the IoT-based
floor cleaning robot, emphasizing its practical benefits and future potential.
 ACKNOWLEDGEMENT

Deep sense of gratitude to our supervisor DR. RACHIT SRIVASTAVA

without his excellent guidance, consistent encouragement and constant
supervision; our bachelor’s degree would not have been possible. We have
learned so much about conducting project in engineering and life in general.
We would like to thank him for being our supervisor here at Bansal Institute of
Engineering and Technology, Lucknow. We are grateful to DR. ANURAG
DEVEDI (Head of Department), all faculty member and staff of Department
of Electrical Engineering, B.I.E.T Lucknow for their generous support in
various ways for the completion of project.
We would like to thank our friends and classmates for all the thoughtful and
motivating discussions we had, which encouraged us to think beyond the
observable. We have enjoyed their companionship so much during our stay at
B.I.E.T. Lucknow.

DATE:

PARITOSH KUMAR RAI (2104220209009)

PARITOSH KUMAR RAI (2104220209009)
PARITOSH KUMAR RAI (2104220209009)
PARITOSH KUMAR RAI (2104220209009)
 TABLE OF CONTENTS
CERTIFICATE 2

CANDIDATE'S DECLARATION 3

ABSTRACT 4

ACKNOWLEDGEMENT 5

TABLE OF CONTENTS

6-8

CHAPTER 1

1.1 INTRODUCTION
9

1.2 OBJECTIVE 10-11

1.3 LITRATURE REVIEW 11-16

1.3 MATERIALS AND ITS COMPONENTS 16

1.4 FUTURE SCOPE 16
1.5 IOT OVERVIEW 17
1.6 IOT KEY FEATURES 17-18
1.7 IOT ADVANTAGES 18
1.8 IOT DISADVANTAGES 18-19
1.9 TECHNOLOGY AND PROTOCOLS 19
1.10 APPLICATION AND PROCESS EXTENSION 19-20

21
1.11 EQUIPMENT AND COST

22

CHAPTER 2

2.1 BLOCK DIAGRAM 22

2.2 WORKING PROCESS 23

2.3 CAD DRAWING 23-27

28
CHAPTER 3

28-29
3.1 PRINCIPAL COMPONENTS OF PROJECT
29-34
3.1.1 ESP8266 NODE MCU
35-41
3.1.2 L298N MOTOR DRIVER
41-46
3.1.3 ESP32 CAM
46-52
3.1.4 RELAY MODULE
3.1.5 SERVO MOTOR 52-55

3.1.6 HCSR-04 ULTRASONIC SENSOR 55-59

3.1.7 GEAR MOTOR 59-60
3.1.8 WATER MOTOR
60-62
3.1.9 DRIVING WHEELS

4 ADVANTAGES ….

4.1 DISADVANTAGE .….

4.2 APPLICATION …..

4.3 RESULT …..

4.4CONCLUSION …...

4.5 REFERENCES …...

Chapter: - 1
Introduction

1.1 Background of study

In recent years, robotic cleaners have taken major attention in robotics research due to their
effectiveness in assisting humans in floor cleaning applications at homes, hotels, restaurants,
offices, hospitals, workshops, warehouses and universities etc. Basically, robotic cleaners are
distinguished on their cleaning expertise like floor mopping, dry vacuum cleaning etc. Some
products are based on simple obstacle avoidance using infrared sensors while some utilize
laser mapping technique. Each cleaning and operating mechanism of robotic floor cleaners
have 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.

1.2 Literature Review

The Floor cleaning robot is employed as a domestic application. In this part, the previous
work is discussed below:

Gutmann, Jens-Steffen, et al have discussed social impact of floor cleaner system. They
propose an automatic cleaning robot that sweeps and mops hard-surface floors using dusting
and mopping cloths. It systematically cleans and navigates in people’s homes. Since it first
became commercially available in mid-2010, hundreds of thousands of These cleaners are
nowadays in use at home. In this paper authors have investigated the product’s social impact
with respect to the attitude of customers towards a systematic floor cleaner and how such a
robot influences their lifestyle. Floor cleaner robot contains two cleaning method, namely dry
and wet. The floor cleaning robot brushes the floor in neat and parallel line’s direction in dry
mode cleaning, whereas robot mops the floor in forward and backward directions in wet
mode cleaning [1].

The behaviour of robot vacuum cleaners is described based on gesture, sound and luminosity.
Hendriks Bram et al have utilized vacuum cleaner robot which they manually operated via
Bluetooth link. In this paper, author study on the user experience of robot vacuum-cleaner
behaviour. How do people want to experience this new type of cleaning appliance? In
reviews were conducted to elicit a desired robot vacuum cleaner personality. With this
knowledge in mind, behaviour was designed for a future robot vacuum cleaner [2].

Vibha Burman and Ravinder Kumar suggested a revolutionary technology that combines dry
cleaning and wet cleaning in one. The Internet of Things framework is most appropriate for
obtaining precise sensor findings and carrying out necessary operations. Interfacing sensors
to produce outcomes with very high connectivity is made possible by IoT. The connectivity
of the sensor does not lessen its capacity for value measurement and analysis. The Wi-Fi
module is included to allow regulating communications across great distances. [3].

Julia Fink et al. studied people’s perception of the robot and how it evolved over time, kept
track of daily routines, the usage patterns of cleaning tools, and social activities related to the
robot. They integrated results in an existing framework for domestic robot adoption and
outlined similarities and differences to it. Finally, they identified several factors that promote
or hinder the process of adopting a domestic service robot and make suggestions to further
improve human-robot interactions and the design of functional home robots toward long-term
acceptance [4].

Burman Vibha, and Ravinder Kumar proposed a new system which contain a combination of
both wet cleaning and dry cleaning together. To get the on-point results from the sensors and
perform needful tasks, the IoT framework is best suited. IoT provides the functionality of
interfacing sensors producing results with very high connectivity. To enable long-distance
controlling communications, the Wi-Fi module is added. With the help of the Wi-Fi module
integrated with the IoT technologies, the cleaning robot will result in smarter cleaning [5].

Kaur Manreet, and Preeti Abrol presented a robot for Floor cleaning. This floor cleaner robot
can work in any of two modes i.e. “Automatic and Manual. This robot can perform sweeping
and mopping task. In the automatic mode robot control all the operations itself and change
the lane in case of hurdle detection and moves back. In manual mode, 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 [6].

A sample of seven robots was examined by F. Vaussard in order to determine how important
technologies—like the navigation system—affect technical performance. In order to
determine the demands of the users, they carried out an ethnographic investigation in nine
houses for the second study. With the use of this creative strategy, it is possible to suggest
several practical enhancements that attempt to meet user needs by utilizing existing
technology to open up opportunities. [7].

M. L. Walters demonstrated a trial that varied the robot voice styles according on participants'
initial comfort levels while approaching. Three speech types were selected for the robot: a
male voice, a female voice, and a (synthesized) neutral voice in order to investigate the
impacts of robot voice gender. The control condition was the inability to speak. [8].

Lee Hyunsoo, and Amarnath Banerjee conduct research that considered overall scheduling of
a vacuum cleaning robot that includes multi cleaning cycles. Even though there are research
studies for generating paths for a device, the paths in each cycle tend to be similar from the
fact that the motion planning is based on one tour of a target space. The generated prediction
model provides the needed constraints for different mathematical programming models in the
optimization stage. The proposed framework is considered as an efficient scheduling method
in terms of minimizing redundant paths while maintaining tolerable dust levels during multi
cleaning cycles [9].

Yatmono, S., et al. developed a smart floor cleaning robot that can navigate, clean dust, and
polish floors automatically. The study was conducted using Pressman's research and
development methods which included the following phases: analysis, design, implementation
and testing [10].

Bhingare Komal Manoj et al. have designed a vacuum cleaner using Arduino and IoT. The
system connected to the internet using the Wi-Fi module which will help the user to turn on
or turn off the machine from remote places. Using IoT user can also keep the records of the
on times and off times of the robot. This can help the user operate or monitor the robot from
any distance [11].

Parmar Harshvardhan sinh, et al. proposed a system that can be controlled by an Android
device as well as automatically by using a couple of sensors for mopping the most part of the
dirty floors and surfaces i.e., highly polished wooden surfaces, tiles or stones, etc. Mopping
section consists of a mop attached to the robot for mopping the floor. It is attached to a small
water container from which water is sprayed by a mini water pump in order to make the mop
wet. This can be helpful in improving the lifestyle of mankind comfortable. The robot can be
turned on and off by pressing the external switch which is mounted on the robot [12].

Garud M. J. et al. presented a technology that proposed the working of robot for Floor
cleaning. 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 [13].

Raj Vishaal's research paper comprises of a base module and a cleaning module. An electric
ducted fan (EDF) and support ropes from the base module were employed to secure the
cleaning module to the glass wall. The robot is specifically designed so that the cleaning
module can be used separately to clean the floor, with the EDF acting as a vacuum cleaner in
addition to a vacuum pump for spraying the cleaning solution. This enables both dry and wet
cleaning of the floor to be carried out. [14].

The house cleaning robot, developed by Abhishek Pandey et.al, utilizes a microcontroller to
identify obstacles and adjust its path based on the data received from infrared sensors
positioned at the front, right, and left sides of the robot. Alternatively, it can also rely on the
digital signal processor for this purpose. [15].

Burman, Vibha, and Ravinder Kumar have proposed a new system which contain a
combination of both wet cleaning and dry cleaning together. To get the on-point results from
the sensors and perform needful tasks, the IoT framework is best suited. IoT provides the
functionality of interfacing sensors producing results with very high connectivity [16].

Das Nabamita Ramkrishna, et al collaborates Mechanical, Electrical and Electronic streams

and employs devices and systems of these fields. It is an assembly of various rigid
components like chassis, some motors and various electromechanical devices [17].

R. Bhoopathi et.al engineered a floor cleaner that can be controlled remotely. Different load
conditions were examined during the design process. The frame of the cleaner is constructed
from Aluminium 6061, while the wheels are crafted from Nylocast plastic using a lathe
machine. Powering the cleaner are two 12 V 100 rpm DC motors, which are regulated by the
motor driver L293D. To operate the cleaner, a mobile device is used in conjunction with a
Wi-Fi module ESP8266 [18].

The literature survey of floor cleaner, hardware parts, i.e., wireless mediums, sensors, and
microcontrollers are summarized in the tabular form listed as Tables 1, 2, 3, 4 and 5.

Table 1 Motor drivers used in floor cleaners

Motor Authors
drivers
L293D Kaur and Abrol [7], Jain et al. [17], Vishaal et al. [15], Das et al.
[18]

Table 2 Wireless mediums used in floor cleaner

Wireless medium Authors

RF modules Kaur and Abrol [7]
IoT Lee and Banerjee [10]
Bluetooth Bingara et al. [12], Vishaal et al. [15], Das et al. [18]
Wi-Fi Bingara et al. [12], Garud et al. [14]

Table 3 Microcontrollers used in floor cleaners

Microcontrollers Authors
AT89S52 Kaur and Abrol [7]
PIC 16F877A Garud et al. [14]
Arduino UNO Yatton et al. [11], Vishaal et al. [15], Pandey et al. [16],
Das et al. [18], Dubey et al. [19]
Arduino Mega Vishaal et al. [15]
ATMEGA 328P Jain et al. [17]
 Sensors Authors
IR sensor Kaur and Abrol [7], Bingara et al. [12]
Infrared sensor (TSOP1738) Pandey et al. [16]
Dust sensor (DSM501) Lee and Banerjee [10]
Ultrasonic sensor Jain et al. [17], Bingara et al. [12], Garud et al.
[14], Das et al. [18]
Level sensor Bingara et al. [12]

Table 4 Sensors used in floor cleaners

Table 5 Categories of floor cleaners

Types of floor Authors

cleaners
Wet cleaners Gutmann et al. [1], Tani [4], Fink et al. [5], Hung and Leng [6],
Kaur and Abrol [7], Vishaal et al. [15]
Dry cleaners Gutmann et al. [1], Hendriks et al. [2], Forlizzi and DiSalvo [3],
Tani [4], Fink et al. [5], Hung and Leng [6], Lee and Banerjee
[10], Yatton et al. [11], Bingara et al. [12], Garud et al. [14],
Vishaal et al. [15],
Pandey et al. [16], Jain et al. [17], Das et al. [18]

1.3 Objective
An IoT-based floor cleaning robot with a live streaming camera aims to integrate advanced
robotics with Internet of Things (IoT) technology to provide a comprehensive, efficient, and
user-friendly solution for maintaining clean floors. The primary objectives include:

(i). Automated Cleaning

 o The robot autonomously navigates and cleans the floor, reducing the need for manual
labor.
o It uses sensors to detect obstacles, dirt, and optimize cleaning paths.

(ii). Live Monitoring

o The live streaming camera allows users to monitor the cleaning process in real-time
from remote locations.
o It provides visual feedback on areas that need extra attention or verification that the
robot is functioning correctly.

(iii). Remote Control and Management

o Through a connected app or web interface, users can start, stop, or schedule cleaning
sessions from anywhere.
o Users can also manually control the robot if needed, using the live camera feed for
navigation.

(iv). Data Collection and Analytics

o The robot collects data on cleaning patterns, frequency, and effectiveness.

o Users can review cleaning logs and performance statistics to optimize future cleaning
schedules and ensure thorough maintenance.

(v). Integration with Smart Home Systems

o The robot can be integrated with other smart home devices for a seamless automated
home experience.
o It can work in conjunction with other IoT devices like smart locks, lights, and
security systems to enhance home automation.

(vi). Enhanced Security and Surveillance

o The live streaming camera can also function as a mobile security camera, providing
surveillance of different areas of the home.
o Users can receive alerts and view the live feed if unusual activity is detected during
the robot's operation.

(vii). User-Friendly Interface

o The system is designed to be easy to use, with intuitive controls and clear feedback
on the robot's status and cleaning progress.
o User notifications and alerts keep the user informed of any issues or completed tasks.

(viii). Energy Efficiency

 o The robot is designed to optimize energy usage, reducing power consumption while
ensuring effective cleaning.
o It can return to its charging station autonomously when the battery is low or after
completing a cleaning cycle.

(ix). Customization and Adaptability

o Users can customize cleaning modes, set specific areas for focused cleaning, and
adjust the robot’s behavior based on their preferences and home layout.
o The robot can adapt to different floor types and cleaning requirements.

Overall, the IoT-based floor cleaning robot with a live streaming camera aims to provide a
smart, efficient, and versatile solution for maintaining a clean and secure home
environment.

1.4 Scope Of Project

The scope of this project is to develop an automatic device that can derived from control
room by internet of thing that work of sweeping floor without need of personnel and we
need to just click a start button of the robot in smartphone application. This project has a
scope in the areas like a large floor area, human hazards area in industries like nuclear
plant chemical plant and the areas were threat of dangerous gasses presence.

1.5 IOT- Overview

IOT (Internet of Things) is an advanced automation and analytics system which exploits
networking, sensing, big data, and artificial intelligence technology to deliver complete
systems for a product or service. These systems allow greater transparency, control, and
performance when applied to any industry or system.
IOT systems allow users to achieve deeper automation, analysis, and integration within a
system. They improve the reach of these areas and their accuracy. IOT utilizes existing
and emerging technology for sensing, networking, and robotics.
IOT exploits recent advances in software, falling hardware prices, and modern attitudes
toward technology. Its new and advanced elements bring major changes in the delivery of
products, goods, and services and the social, economic, and political impact of those
changes.
IOT systems have applications across industries through their unique flexibility and
ability to be suitable in any environment. They enhance data collection, automation,
operations, and much more 0through smart devices and powerful enabling technology.
 Fig. 1.1 IoT Future Challenge

1.6 IOT- Features Key

The most important features of IOT include artificial intelligence, connectivity, sensors,
active engagement, and small device use. A brief review of these features is given below:
 AI – IOT essentially makes virtually anything “smart”, meaning it enhances every
aspect of life with the power of data collection, artificial intelligence algorithms, and
networks. This can mean something as simple as enhancing your refrigerator and
cabinets to detect when milk and your favourite cereal run low and to then place an
order with your preferred grocer.
 Connectivity – New enabling technologies for networking, and specifically IOT
networking, mean networks are no longer exclusively tied to major providers.
Networks can exist on a much smaller and cheaper scale while still being practical.
IOT creates these small networks between its system devices.
 Sensors – IOT loses its distinction without sensors. They act as defining instruments
which transform IOT from a standard passive network of devices into an active system
capable of real-world integration.
 Active Engagement – Much of today's interaction with connected technology happens
through passive engagement. IOT introduces a new paradigm for active content,
product, or service engagement.
 Small Devices – Devices, as predicted, have become smaller, cheaper, and more
powerful over time. IOT exploits purpose-built small devices to deliver its precision,
scalability, and versatility.

1.7 IOT − Advantages

The advantages of IOT span across every area of life style and business. Here is a list of
some of the advantages that IOT has to offer:

 Improved Customer Engagement – Current analytics suffer from blind-spots and

significant flaws in accuracy; and as noted, engagement remains passive. IOT
 completely transforms this to achieve richer and more effective engagement with
audience.
 Technology Optimization – The same technologies and data which improve the
customer experience also improve device use and aid in more potent improvements
to technology. IOT unlocks a world of critical functional and field data.
 Reduced Waste – IOT makes areas of improvement clear. Current analytics give us
superficial insight, but IOT provides real-world information leading to more effective
management of resources
 Enhanced Data Collection – Modern data collection suffers from its limitations and
its design for passive use. IOT breaks it out of those spaces and places it exactly
where humans really want to go to analysis our world. It allows an accurate picture of
everything.

1.8 IOT − Disadvantages

Though IOT delivers an impressive set of benefits, it also presents a significant set of
challenges. Here is a list of some its major issues:
 Security – IOT creates an ecosystem of constantly connected devices
communicating over networks. The system offers little control despite any
security measures. This leaves users exposed to various kinds of attackers.
 Privacy – The sophistication of IOT provides substantial personal data in extreme
detail without the user's active participation.
 Complexity – Some find IOT systems complicated in terms of design,
deployment, and maintenance given their use of multiple technologies and a large
set of new enabling technologies.
 Flexibility – Many are concerned about the flexibility of an IOT system to
integrate easily with another. They worry about finding themselves with several
conflicting or locked systems.
 Compliance – IOT, like any other technology in the realm of business, must
comply with regulations. Its complexity makes the issue of compliance seem
incredibly challenging when many consider standard software compliance a battle.

1.9 Technology and Protocols

Process extension within the IOT network. They exploit integration with critical
business systems (e.g., ordering systems, robotics, scheduling, and more) in the
execution of related tasks.
 Data Collection
This software manages sensing, measurements, light data filtering, light data
security, and aggregation of data. It uses certain protocols to aid sensors in
connecting with real time, machine-to-machine networks. Then it collects data
from multiple devices and distributes it in accordance with settings. It also works
in reverse by distributing data over devices. The system eventually transmits all
collected data to a central server.
  Device Integration
Software supporting integration binds (dependent relationships) all system devices
to create the body of the IOT system. It ensures the necessary cooperation and
stable networking between devices. These applications are the defining software
technology of the IOT network because without them, it is not an IOT system.
They manage the various applications, protocols, and limitations of each device to
allow communication.
 Real-Time Analytics
These applications take data or input from various devices and convert it into
viable actions or clear patterns for human analysis. They analyse information
based on various settings and designs in order to perform automation-related tasks
or provide the data required by industry.

1.10 Application and Process Extension

These applications extend the reach of existing systems and software to allow a
wider, more effective system. They integrate predefined devices for specific
purposes such as allowing certain mobile devices or engineering instruments
access. It supports improved productivity and more accurate data collection. IOT
primarily exploits standard protocols and networking technologies.
However, the major enabling technologies and protocols of IOT are RFID,
NFC, low energy Bluetooth, low-energy wireless, low-energy radio protocols,
LTE-A, and Wi Fi Direct. These technologies support the specific networking
functionality needed in an IOT system in contrast to a standard uniform network
of common systems.

Fig. 1.2 Internet of thing Integration of Platforms and Applications

Chapter: - 2
Methodology & CAD Design

2.1 Block Diagram

The proposed FCR will possess different sub-blocks for performing cleaning applications,
i.e., dry as well as the wet cleaning process. Block diagram of the proposed system.
Microcontroller and motor driver are powered through the power supply. Microcontroller
will send the controlling signal to the motor driver. The motor driver sends the controlling
signals to the attached left motor and right motor. These motors will provide actuation to
perform vacuum, mop, sprinkler and fan actions. Figure demonstrates the flow of
information in the proposed floor cleaning robot system. The microcontroller will
ultimately switch ON the motor driver and will broadcast the control signal for vacuum
cleaner, mopping and sprinkler, etc.
Fig 2.1 Blook Diagram IoT
based Floor Cleaner
Robot with Live
Streaming Camera

2.2 Working
Process

The proposed
floor cleaning
model’s working
process is shown in
below block diagram.
For the cleaning
process, a dc motor
attached with
wipers. Whereas
for mopping, a
dc water pump is
used to pump water
at frequent intervals to
a mop cloth. The whole robotic system is powered by a rechargeable battery of 12 V. An
android application is used either to control the floor cleaner or to put it in autonomous mode.
This enables the user to have flexibility of operating the robot from a distance of about 10 m.
After the cleaning process, the dirt container is emptied, and mop cloth replaced. Figure 4
shows the different components used for the prototype. A brief description of the building
blocks is provided in the following sections.

Fig 2.2 Working Process of IoT based Floor Cleaner Robot with Live Streaming Camera

2.3

CAD Drawing
Creating a CAD drawing for an IoT-based floor cleaning robot with live streaming involves
multiple steps. The robot design should encompass various components, including the
chassis, motors, sensors, microcontroller, camera module, and connectivity modules. Below
is a basic guide to outline the key components and features for such a design:
(i). Chassis Design:
• The chassis should be sturdy and spacious enough to house all the components.
• Include mounting points for motors, wheels, and casters for smooth movement.

(ii).Motor and Wheel Assembly:

• Place two DC motors with wheels for movement.
• Include a couple of caster wheels for balance and smooth turning.

(iii). Sensor Placement:

• Ultrasonic or infrared sensors for obstacle detection.
• Line sensors if line-following capabilities are needed.

(iv). Microcontroller:
 • A compartment to securely mount the microcontroller, such as Arduino or Raspberry
Pi.

(v).Camera Module:
• A camera module for live streaming.
• Position the camera at an angle that provides a clear view of the robot's path.

(vi). Power Supply:

• Battery compartment and wiring for power distribution to all components.

(vii). Connectivity:
• Wi-Fi or Bluetooth module for IoT capabilities.
• Antennas and necessary slots for connectivity modules.

(viii). Cleaning Mechanism:

• Brushes or mop pads for cleaning.
• Vacuum system if required.

(ix). Other Components:

• Additional sensors or modules as per the required functionality (e.g., dustbin level
sensor).
Front View: - Figure 2.3 shows the front view of the floor cleaning robot. In this robot we
can assemble ESP32 Cam for live streaming this provide real-time updates to users, Moppers
(2- series moppers) with water sprinklers that’s can use to provide water for mopping.
Moppers can operate with the help of gear motors for mopping up of the floor. These
moppers are operated with the help of relay module the relay module work as an automatic
switch. It allows the control of moppers using microcontroller, HC-SR04 Ultrasonic sensor
for obstacles detection this sensor uses sonar to determine the distance to an object.

Fig 2.3 Front View of the

robot

Back View: - Figure 2.4

shows the back view of the
robot. In back side of the robot assemble roller with servo motor, this servo used to up and
down the roller if we want to use the roller then we can down the robot with the help of servo
motor and after completing the work we can up the roller with help of servo motor. This
servo motor is connected with the Relay Module 2, it allows the control of servo motor using
microcontroller.

Fig 2.4 Back View of the robot

Right Side View: - Figure 2.5 shows the right-side view of the floor cleaning robot. In this
side of the robot assemble Relay Module-2 for operating the moppers automatically for
mopping up of the floor, it allows the control of moppers using microcontroller and right side
of the driving wheels with its gear motors of the robot.

Fig 2.5 Right side

View of the robot

Left Side View: - Figure 2.6 shows the left side of the floor cleaning robot. In this view
shows the left side of the driving wheels with gears motors of robot, Relay Module-1 for
operating the water pump and servo motor. This servo motor use to up and down the roller
and dry the wet which one created by water sprinklers and water pump use to provide water
to sprinklers from water tank which can mounted on the top of the robot.
 Fig 2.6 Right side View of the robot

Top View: - Figure 2.7 shows the top of the of the robot. In top of the robot shows all
circuitry of the robot which help to operate this robot. In this circuitry we can uses ESP8266
Node MCU, L298N Dual H-Bridge Motor Driver, Two Relay Module, Water Pump, SCRF-
310 Pump, s90 micro servo motor 12 v Battery and Water tank. In this Node MCU use to
operate the whole system automatically with the help of Blynk IoT application all the devices
are directly or indirectly connected with the Node MCU to operate all system manually.

Fig 2.7 Top View of the robot

Bottom Side View: - Figure 2.8 shows the bottom view of the robot. In bottom of the robot
shows four driving wheels, four driving gear motors and mopper for mopping up of the floor.
These driving wheels use to move our robot according to our requirement automatically with
the help of Node MCU this Node MCU is directly connected to Blynk IoT application.

Fig 2.8 Bottom View of the robot

 The proposed floor cleaning model’s CAD has been prepared in AutoCAD 2007 software.
All the dimensions are specified in mm (Millimetres). No electrical circuit is shown in the
CAD models of the floor cleaning robot. Figure 2.7 shows the top view of the floor cleaning
robot with the numbering specified on them. Following CAD drawings consist of bottom
view (shown in Fig. 2.4), front view (shown in Fig. 2.3), back view (shown in Fig. 2.4), left-
hand side view (shown in Fig. 2.5), right-hand side view (shown in Fig. 2.6), respectively.
Chapter: - 3
Hardware Description

3.1 Principal Components of Project

There are several components used in this IoT based floor cleaning robot which are
shown in below mentioned figure 3.1

Fig. 3.1 Components used in floor cleaning robot.

 In this floor cleaning robot, we can uses following components which are
as follows: -

1. ESP8266 Node MCU

2. L298N Motor Driver
3. ESP32 Cam
4. Relay Module
5. Servo Motor
6. HCSR-04 Ultrasonic Sensor
7. Gear Motor
8. Water Pump
9. Driving Wheels
10. Battery
11. Moppers
12. Roller
13. Buzzer

3.1.1 ESP8266 Node MCU

The ESP8266 Node MCU is a popular and versatile development board used for IoT (Internet
of Things) projects. The ESP8266 Node MCU is based on the ESP8266 Wi-Fi module, which
provides a self-contained Wi-Fi networking solution. It integrates the ESP8266 chip and has
an onboard USB-to-serial adapter, making it easy to program and use. Node MCU is an open-
source firmware and development kit that helps you to prototype your IoT products within a
few Lua script lines.

Key Features

I. Microcontroller: ESP8266EX

 32-bit RISC CPU: Tensilica Xtensa LX106 running at 80 MHz (or up to 160
MHz).
 Operating Voltage: 3.3V.
 Flash Memory: Typically, 4MB, but variants with different memory sizes exist.
 SRAM: 64 KB of instruction RAM, 96 KB of data RAM.
 GPIO: 17 GPIO pins.
 Interfaces: SPI, I2C, UART, 10-bit ADC, PWM, I2S.
 II. Wi-Fi:
 802.11 b/g/n.
 Integrated TCP/IP protocol stack.
 Supports AP (Access Point), STA (Station), and AP+STA modes.
 WEP, WPA/WPA2 security protocols.

III.Development Environment:
 Programmable via Arduino IDE, Node MCU firmware with Lua scripting,
MicroPython, and other languages.

Hardware Specifications
I. USB Interface:
 CP2102 or CH340G USB-to-Serial adapter onboard for easy programming.
 Micro USB port for power supply and programming.

II. Power:
 Power Supply: 5V via USB or 7-12V via Vin pin.
 Built-in 3.3V regulator.
 Power consumption: varies based on Wi-Fi usage and operating mode (sleep, idle,
active).

III.Pins and Connectors:

 Power Pins: Vin, 3.3V, GND.

 Digital I/O Pins: D0-D8, SD1-SD3.
 Analog Pin: A0 (10-bit ADC, 0-1V input range).
 UART Pins: TX, RX.
 Other Pins: RST (reset), EN (chip enable), Flash (for firmware flashing).

IV. Dimensions:
 Typically, around 50mm x 25mm.

Software
I. Node MCU Firmware:
 Uses Lua scripting language.
 Open-source firmware.
 Easy-to-use API for various functionalities like GPIO control, Wi-Fi configuration, and HTTP
client/server.

II. Arduino IDE:

 The board can be programmed using the Arduino IDE with ESP8266 core installed.
 Rich library support and community resources.

III.MicroPython:
  A lean and efficient implementation of Python 3, optimized to run on
microcontrollers.
 REPL (Read-Eval-Print Loop) support for interactive development.

Applications
I. IoT Projects:
 Smart Home devices (e.g., connected thermostats, smart lights).
 Remote sensors (e.g., temperature, humidity, motion).
 Connected appliances.

II. Networking:
 Creating Wi-Fi hotspots.
 Developing web servers and clients for local and remote control.

III.Prototyping and Development:

 Rapid prototyping of wireless and IoT applications.
 Education and learning for embedded systems and networking concepts.

Pin Diagram of ESP8266 Node MCU

Fig. 3.1 Pin diagram of Node MCU

The Node MCU Development Kit, which is based on the ESP8266 Wi-Fi module. The
diagram highlights various pins and their functions. Here is a detailed description:
Node MCU Development Kit Pinout:
o 3V3: 3.3V power output.
o RST: Reset pin.
o VIN: External power supply pin.
o GND: Ground.
o ADC0: Analog-to-Digital Converter pin 0.
o D0: GPIO16 (General Purpose Input/Output).
o D1: GPIO5, I2C (Inter-Integrated Circuit) clock.
o D2: GPIO4, I2C data.
o D3: GPIO0, used for boot mode selection.
o D4: GPIO2, often connected to the built-in LED.
o D5: GPIO14, SCLK (SPI clock).
o D6: GPIO12, MISO (SPI master in, slave out).
o D7: GPIO13, MOSI (SPI master out, slave in).
o D8: GPIO15, CS (SPI chip select).
o D9: RX, GPIO3, UART receive pin.
o D10: TX, GPIO1, UART transmit pin.
o SD3: GPIO10, used for SPI flash.
o SD2: GPIO9, used for SPI flash.
o GND: Ground.
o 3V3: 3.3V power output.

Functions:
o GPIO: General-purpose input/output pins.
o SPI: Serial Peripheral Interface pins.
o UART: Universal Asynchronous Receiver-Transmitter pins for serial communication.
o PWM: Pulse-width modulation pins, typically used for controlling devices like LEDs
and motors.
o ADC: Analog-to-digital converter for reading analogue values.

Special Notes:
o The Wi-Fi module (ESP8266) is centrally located.
o The Micro USB port at the bottom is used for programming and power supply.
 o The Flash button is typically used to initiate the firmware flashing process.
o The Reset button restarts the module.
This development kit is widely used for IoT (Internet of Things) projects due to its integrated
Wi-Fi capabilities and versatility in interfacing with various sensors and actuators.

Working Process
1) Power-Up:
o When the Node MCU is powered on, the bootloader initializes the system and
checks for any new firmware to be uploaded.

2) Wi-Fi Connection:
o The ESP8266 connects to a Wi-Fi network using credentials stored in the
firmware.
o It can operate in Station mode (connecting to an existing network), Access Point
mode (creating its own network), or both.

3) Running Code:
o The microcontroller executes the user-defined code stored in flash memory. This
code can be written in Lua (Node MCU firmware) or C/C++ (Arduino IDE).
o The code typically includes instructions to read sensor data, control actuators,
communicate with web servers, or send data to cloud services.

4) Communication:
o The ESP8266 can send and receive data over Wi-Fi. It can make HTTP requests,
communicate via Web Sockets, or use MQTT for IoT applications.
o GPIO pins can be used to interface with other hardware components like LEDs,
relays, and sensors.

5) Programming
The Node MCU can be programmed using various environments:
(i). Arduino IDE:
o Install the ESP8266 board package through the Boards Manager.
o Write code in C/C++ using the Arduino framework.
o Upload code to the board via USB.

(ii).Node MCU Firmware (Lua):

o Write scripts in Lua.
o Use the Node MCU flasher tool to upload firmware and scripts.
Example Use Case: Blinking an Led:
Here's an example of how to blink an LED using the Arduino IDE:

Connecting to Wi-Fi and sending data:

Example of connecting to Wi-Fi and sending data to a web server:
3.1.2 L298N Motor Driver:

The L298N module is a high voltage, high current dual full-bridge motor driver module
for controlling DC motor and stepper motor. It can control both the speed and rotation
direction of two DC motors. This module consists of an L298 dual-channel H-Bridge
motor driver IC. This module uses two techniques for the control speed and rotation
direction of the DC motors. These are PWM – For controlling the speed and H-Bridge –
For controlling rotation direction. These modules can control two DC motor or one
stepper motor at the same time. L298N motor driver is a popular integrated circuit (IC)
used to control the speed and direction of DC motors and stepper motors. It is based on
the H-Bridge concept, which allows voltage to be applied across a load in either direction.
This makes it particularly useful for robotic and automation projects where precise motor
control is needed.

Fig. 3.2 L298N Motor Driver layout

Features of L298N Driver Module:

o Dual H-Bridge Motor Driver: Can control two DC motors or one stepper motor.
o Voltage Range: Can handle motor supply voltages from 5V to 46V.
o Current Rating: Each bridge can handle up to 2A continuous current.
o Logic Voltage: 5V for the control logic.
o Thermal Shutdown: Protection against overheating.
o High Noise Immunity: Robust performance in noisy environments.

L298N Motor Driver Hardware Overview:

This motor driver module consists of two main key components, these are L298 motor driver
IC and a 78M05 5V regulator.

I. L298 motor driver IC:

o L298 is a high voltage, high current dual full-bridge motor driver IC. It
accepts standard TTL logic levels (Control Logic) and controls inductive loads
such as relays, solenoids, DC and Stepper motors. This is a 15 pin IC.
According to the L298 datasheet, its operating voltage is +5 to +46V, and the
maximum current allowed to draw through each output 3A. This IC has two
enable inputs, these are provided to enable or disable the device independently
of the input signals.
o A black colour heat sink is attached to the L298 IC of the module. A heat sink
is a passive heat exchanger that transfers the heat generated by an electronic or
a mechanical device to a fluid medium, often air or a liquid coolant.

II. 78M05 5V Regulator:

o The module has an on-board 78M05 5V Voltage regulator. This Voltage
regulator will be performed only when the 5V Enable jumper is placed. When
the power supply is less than or equal to 12V, then the internal circuitry will
be powered by the voltage regulator, and the 5V pin can be used as an output
pin to power the microcontroller or other circuitry (sensor).
o The jumper should not be placed when the power supply is greater than 12V
and separate 5V should be given through 5V terminal to power the internal
circuitry.

L298N Motor Driver Module Pin Diagram:

Fig. 3.3 Pin Diagram of L298N Motor Driver

Pin
No. Pin Name Description
Power Supply Pins
VCC pin is used to supply power to the motor. Its input voltage is
1 VCC between 5 to 35V.
GND is a ground pin. It needs to be connected to the power
2 GND supply ground(negative).
+5V pin supplies power for the switching logic circuitry inside
the L298N IC. If the 5V-EN jumper is in place, this pin acts as
output and can be used to power up a microcontroller or other
circuitry (sensor). If the 5V-EN jumper is removed, you need to
3 +5V connect it to the 5V power supply of the microcontroller.

Control Pins
1 IN1 These pins are input pins of Motor A. These are used to control
the rotating direction of Motor A. When one of them is HIGH and
the other is LOW, Motor A will start rotating in a particular
direction. If both the inputs are either HIGH or LOW the Motor A
2 IN2 will stop.
3 IN3 These pins are input pins of Motor B. These are used to control
the rotating direction of Motor A. When one of them is HIGH and
the other is LOW, Motor A will start rotating in a particular
direction. If both the inputs are either HIGH or LOW the Motor A
4 IN4 will stop.

Speed Control Pins

ENA pin is used to control the speed of Motor A. If a jumper is
present on this pin, so the pin connected to +5 V and the motor
will be enabled, then the Motor A rotates maximum speed.
if we remove the jumper, we need to connect this pin to a PWM
input of the microcontroller. In that way, we can control the speed
of Motor A. If we connect this pin to Ground the Motor A will be
1 ENA disabled.
ENB pin is used to control the speed of Motor B. If a jumper is
present on this pin, so the pin connected to +5 V and the motor
will be enabled, then the Motor B rotates maximum speed.
if we remove the jumper, we need to connect this pin to a PWM
input of the microcontroller. In that way, we can control the speed
of Motor B. If we connect this pin to Ground the Motor B will be
2 ENB disabled.

Output Pins
1 OUT1 & OUT2 This terminal block will provide the output for Motor A.
2 OUT3 & OUT4 This terminal block will provide the output for Motor B.

Pin Description of L298N Motor Driver:

o Input Pins (IN1, IN2, IN3, IN4): Used to control the direction of the
motors.
o Enable Pins (EN A, EN B): Used to enable or disable the motors. They can
also be used for speed control by PWM (Pulse Width Modulation).
o Motor Output Pins (OUT1, OUT2, OUT3, OUT4): Connect to the motors.
o Power Supply Pins (Vss, Vs): Vss for logic voltage (usually 5V) and Vs for
motor voltage (5-46V).
o Ground (GND): Common ground for the motor and logic supplies.
o Current Sensing Pins (CSA, CSB): Used for current sensing. They can be
connected to ground if not used.

Fig. 3.3 Pin Description of L298N Motor Driver

Description of Connections
 o VCC: Connect to a 5V power supply to power the logic circuit.
o GND: Common ground for both logic and motor power supplies.
o +12V (VSS): Connect to the positive terminal of the motor power
supply (can range from 5V to 46V).
o OUT1, OUT2: Motor A output pins. Connect the terminals of the first
DC motor here.
o OUT3, OUT4: Motor B output pins. Connect the terminals of the
second DC motor here.
o IN1, IN2: Input pins to control Motor A. Logic high and low signals
determine the direction of the motor.
o IN3, IN4: Input pins to control Motor B. Logic high and low signals
determine the direction of the motor.
o ENA: Enable pin for Motor A. Can be connected to a PWM signal for
speed control.
o ENB: Enable pin for Motor B. Can be connected to a PWM signal for
speed control.
o CSA, CSB: Current sense pins for Motor A and Motor B. Typically connected
to ground if not used.

How Motor Driver Module Works?

This module uses two techniques for the control speed and rotation direction of the DC
motors. These are H-Bridge – For controlling rotation direction and PWM – For controlling
the speed.

H-Bridge Techniques

L298n motor driver module uses the H-Bridge technique to control the direction of rotation
of a DC motor. In this technique, H-Bridge controlled DC motor rotating direction by
changing the polarity of its input voltage.
An H-Bridge circuit contains four switching elements, like transistors (BJT or MOSFET),
with the motor at the centre forming an H-like configuration. Input IN1, IN2, IN3, and
IN4 pins actually control the switches of the H-Bridge circuit inside L298N IC.
We can change the direction of the current flow by activating two particular switches at the
same time, this way we can change the rotation direction of the motor.
  Case 1: - When S1, S2, S3, and S4 all switches are open then no current goes to the
Motor terminals. So, in this condition, the motor is stopped (not working).

 Case 2: - When the switch S1 and S4 are closed, then the motor left terminal is getting a
positive (+) voltage and the motor right terminal is getting a negative (-) voltage. So, in
this condition motor start rotating in a particular direction (clockwise).

 Case 3: - When S2 and S3 switches are closed, then the right motor terminal is getting a
positive (+) voltage and the left motor terminal is getting a negative (-) voltage. So, in this
condition motor start rotating in a particular direction (anticlockwise).

3.1.3 ESP32 Cam

The heart of the ESP32-CAM is an ESP32-S System-on-Chip (SoC) from Ai-Thinker.

Being an SoC, the ESP32-S chip contains an entire computer—the microprocessor, RAM,
storage, and peripherals—on a single chip. While the chip’s capabilities are quite
impressive, the ESP32-CAM development board adds even more features to the mix.
Let’s take a look at each component one by one.

i. The ESP32-S Processor: - The ESP32-CAM equips the ESP32-S surface-mount printed
circuit board module from Ai-Thinker. It is equivalent to Espressif’s ESP-WROOM-32
module (same form factor and general specifications).
 Fig. 3.7 ESP32-S Processor
The ESP32-S contains a Tensilica Xtensa® LX6 microprocessor with two 32-bit cores
operating at a staggering 240 MHz! This is what makes the ESP32-S suitable for intensive
tasks like video processing, facial recognition, and even artificial intelligence.

ii. The Memory: - Memory is paramount for complex tasks, so the ESP32-S has a full 520
kilobytes of internal RAM, which resides on the same die as the rest of the chip’s
components.

Fig. 3.8 ESP32 Memory

It may be inadequate for RAM-intensive tasks, so ESP32-CAM includes 4 MB of external

PSRAM (Pseudo-Static RAM) to expand the memory capacity. This is plenty of RAM,
especially for intensive audio or graphics processing. All these features amount to nothing if
you don’t have enough storage for your programs and data. The ESP32-S chip shines here as
well, as it contains 4 MB of on-chip flash memory.

iii. The Camera: - The OV2640 camera sensor on the ESP32-CAM is what sets it apart
from other ESP32 development boards and makes it ideal for use in video projects like a
video doorbell or nanny cam.
 Fig. 3.9 ESP32 Camera

The OV2640 camera has a resolution of 2 megapixels, which translates to a maximum of

1600×1200 pixels, which is sufficient for many surveillance applications. The ESP32-CAM
is compatible with a wide variety of camera sensors.

iv. The Storage: - The addition of a microSD card slot on the ESP32-CAM is a nice bonus.
This allows for limitless expansion, making it a great little board for data loggers or
image capture.

Fig. 3.10 ESP32 Storage

v. The Antenna: - The ESP32-CAM comes with an on-board PCB trace antenna as well as
a u.FL connector for connecting an external antenna. An Antenna Selection jumper (zero-
ohm resistor) allows you to choose between the two options.
 Fig. 3.10 ESP32 Antenna

vi. LEDs: - The ESP32-CAM has a white square LED. It is intended to be used as a camera
flash, but it can also be used for general illumination.

Fig. 3.11 ESP32 LED

There is a small red LED on the back that can be used as a status indicator. It is user-
programmable and connected to GPIO33.

Technical Specifications:

To summarize, the ESP32-CAM has the following specifications.

i. Processors:
o CPU: Xtensa dual-core 32-bit LX6 microprocessor, operating at 240 MHz and
performing at up to 600 DMIPS
o Ultra-low power (ULP) co-processor

ii. Memory:
 o 520 KB SRAM
o 4MB External PSRAM
o 4MB internal flash memory

iii. Wireless connectivity:

o Wi-Fi: 802.11 b/g/n
o Bluetooth: v4.2 BR/EDR and BLE (shares the radio with Wi-Fi)

iv. Camera:
o 2 Megapixel OV2640 sensor
o Array size UXGA 1622×1200
o Output formats include YUV422, YUV420, RGB565, RGB555 and 8-bit compressed
data
o Image transfer rate of 15 to 60 fps
o Built-in flash LED
o Support many cameras sensors

v. Supports microSD card

vi. Security:
o IEEE 802.11 standard security features all supported, including WFA, WPA/WPA2
and WAPI
o Secure boot
o Flash encryption
o 1024-bit OTP, up to 768-bit for customers
o Cryptographic hardware acceleration: AES, SHA-2, RSA, elliptic curve
cryptography (ECC), random number generator (RNG)

vii. Power management:

o Internal low-dropout regulator
o Individual power domain for RTC
o 5μA deep sleep current
o Wake up from GPIO interrupt, timer, ADC measurements, capacitive touch sensor
interrupt

ESP32-CAM Pinout

The ESP32-CAM has 16 pins in total. For convenience, pins with similar functionality are
grouped together. The pinout is as follows:
 Fig. 3.12
ESP32 CAM Pinout

Power Pins: - There are two power pins: 5V and 3V3. The ESP32-CAM can be powered via
the 3.3V or 5V pins. Since many users have reported problems when powering the device
with 3.3V, it is advised that the ESP32-CAM always be powered via the 5V pin. The VCC
pin normally outputs 3.3V from the on-board voltage regulator. It can, however, be
configured to output 5V by using the Zero-ohm link near the VCC pin.

GND: - GND is the ground pin.

GPIO Pins: - The ESP32-S chip has 32 GPIO pins in total, but because many of them are
used internally for the camera and the PSRAM, the ESP32-CAM only has 10 GPIO pins
available. These pins can be assigned a variety of peripheral duties, such as UART, SPI,
ADC, and Touch.
UART Pins: - The ESP32-S chip actually has two UART interfaces, UART0 and UART2.
However, only the RX pin (GPIO 16) of UART2 is broken out, making UART0 the only
usable UART on the ESP32-CAM (GPIO 1 and GPIO 3). Also, because the ESP32-CAM
lacks a USB port, these pins must be used for flashing as well as connecting to UART-
devices such as GPS, fingerprint sensors, distance sensors, and so on.
MicroSD Card Pins: - MicroSD card Pins are used for interfacing the microSD card. If you
aren’t using a microSD card, you can use these pins as regular inputs and outputs.
ADC Pins: - On the ESP32-CAM, only ADC2 pins are broken out. However, because ADC2
pins are used internally by the Wi-Fi driver, they cannot be used when Wi-Fi is enabled.
Touch Pins: - The ESP32-CAM has 7 capacitive touch-sensing GPIOs. When a capacitive
load (such as a human finger) is in close proximity to the GPIO, the ESP32 detects the
change in capacitance.
SPI Pins: - The ESP32-CAM features only one SPI (VSPI) in slave and master modes.
PWM Pins: - The ESP32-CAM has 10 channels (all GPIO pins) of PWM pins controlled by a
PWM controller. The PWM output can be used for driving digital motors and LEDs.

3.1.4 Relay Module

Relay is an electromechanical device that uses an electric current to open or close the
contacts of a switch. The single-channel relay module is much more than just a plain relay, it
comprises of components that make switching and connection easier and act as indicators to
show if the module is powered and if the relay is active or not.

Fig. 3.13 5V Single-Channel Relay Module

Single-Channel Relay Module Pin Description

Single-Channel relay module pin description shown in below figure :

Fig. 3.14 Single-Channel Relay Module Pinout

Pin Number Pin Name Description

1 Relay Trigger Input to activate the relay

2 Ground 0V reference
 3 VCC Supply input for powering the relay coil

4 Normally Open Normally open terminal of the relay

5 Common Common terminal of the relay

6 Normally Closed Normally closed contact of the relay

Single-Channel Relay Module Specifications

 Supply voltage – 3.75V to 6V

 Quiescent current: 2mA

 Current when the relay is active: ~70mA

 Relay maximum contact voltage – 250VAC or 30VDC

 Relay maximum current – 10A

Components Present on a 5V Single Channel Relay Module

The following are the major components present on a relay module; 5V

Relay, Transistor, Diode, LEDs, Resistors, Male Header pins, 3-pin screw-type terminal
connector, etc.
 Fig. 3.15 Components of Single-Channel Relay Module

The single-channel relay module is much more than just a plain relay, it contains components
that make switching and connection easier and act as indicators to show if the module is
powered and if the relay is active.

o First is the screw terminal block. This is the part of the module that is in contact with
mains so a reliable connection is needed. Adding screw terminals makes it easier to
connect thick mains cables, which might be difficult to solder directly. The three
connections on the terminal block are connected to the normally open, normally
closed, and common terminals of the relay.
o The second is the relay itself, which, in this case, is a blue plastic case. Lots of
information can be gleaned from the markings on the relay itself. The part number of
the relay on the bottom says “05VDC”, which means that the relay coil is activated at
5V minimum – any voltage lower than this will not be able to reliably close the
contacts of the relay. There are also voltage and current markings, which represent
the maximum voltage and current, the relay can switch. For example, the top left
marking says “10A 250VAC”, which means the relay can switch a maximum load of
10A when connected to a 250V mains circuit. The bottom left rating says “10A
30VDC”, meaning the relay can switch a maximum current of 10A DC before the
contacts get damaged.
o The 'relay status LED' turns on whenever the relay is active and provides an
indication of current flowing through the relay coil.
o The input jumper is used to supply power to the relay coil and LEDs. The jumper
also has the input pin, which when pulled high activates the relay.
o The switching transistor takes an input that cannot supply enough current to directly
drive the relay coil and amplifies it using the supply voltage to drive the relay coil.
This way, the input can be driven from a microcontroller or sensor output. The
freewheeling diode prevents voltage spikes when the relay is switched off.
o The power LED is connected to VCC and turns on whenever the module is powered.
 How Does a Relay Work?

Fig. 3.16 Working of Relay Module

The relay uses an electric current to open or close the contacts of a switch. This is usually
done using the help of a coil that attracts the contacts of a switch and pulls them together
when activated, and a spring pushes them apart when the coil is not energized.

There are two advantages of this system – First, the current required to activate the relay is
much smaller than the current that relay contacts are capable of switching, and second, the
coil and the contacts are galvanically isolated, meaning there is no electrical connection
between them. This means that the relay can be used to switch mains current through an
isolated low voltage digital system like a microcontroller.

Internal Circuit Diagram for Single Channel Relay Module

The circuit on the PCB is quite simple.

 Fig. 3.17 Internal circuit diagram of Relay Module

The extra components apart from the relay are there since it would not be possible to drive
the relay directly from the pins of a microcontroller. digital logic or a sensor. This is because
although the coil consumes much less current than the currents it can switch, it still needs
relatively significant current – low power relays consume around 50mA while higher power
relays consume around 500mA. The coil is also an inductive load, so when the coil is
switched off, a large flyback voltage is developed which can damage the device turning it on
and off. For this reason, a flyback diode is added anti-parallel to the relay coil to clamp the
flyback voltage.

LEDs can be added to this basic circuit to act as indicators, and sometimes even optical
isolation is added to the input to further improve the isolation.

How to use Single-Channel relay Module

Relay modules like this one are commonly used to drive mains loads from a microcontroller
like the Arduino or a sensor. In cases like this, the common circuit diagram would be as
follows.
 Fig. 3.18 Common circuit diagram of Single-Channel Relay Module

For simple on/off applications, the relay can be connected as shown above. One terminal of
mains is connected to common, and the other is connected to NO or NC depending on
whether the load should be connected/disconnected when the relay is active.

Check out the image below to see how the relay module is connected to a microcontroller
and mains source and load.

Fig. 3.19 Connection Diagram of relay Module to Microcontroller

3.1.5 Servo Motor

Micro Servo Motor SG90 is a tiny and lightweight server motor with high output power.
Servo can rotate approximately 180 degrees (90 in each direction), and works just like the
standard kinds but smaller. You can use any servo code, hardware or library to control
these servos. Good for beginners who want to make stuff move without building a motor
controller with feedback & gear box, especially since it will fit in small places.
 Fig. 3.20 SG90 Servo Motor

Servo Motor Wire Configuration

Wire Number Wire Colour Description

1. Brown Ground wire connected to the

ground of system

2. Red Powers the motor typically +5V is

used

3. Orange PWM signal is given in through this

wire to drive the motor

Features of SG-90 Servo Motor

 Operating Voltage is +5V typically

 Torque: 2.5kg/cm

 Operating speed is 0.1s/60°

  Gear Type: Plastic

 Rotation: 0°-180°

 Weight of motor: 9gm

 Package includes gear horns and screws

Selecting your Servo Motor

There are lots of servo motors available in the market and each one has its own speciality and
applications. The following two paragraphs will help you identify the right type of servo
motor for your project/system. Most of the hobby Servo motors operates from 4.8V to 6.5V,
the higher the voltage higher the torque we can achieve, but most commonly they are
operated at +5V. Almost all hobby servo motors can rotate only from 0° to 180° due to their
gear arrangement so make sure you project can live with the half circle if no, you can prefer
for a 0° to 360° motor or modify the motor to make a full circle. The gears in the motors are
easily subjected to wear and tear, so if your application requires stronger and long running
motors you can go with metal gears or just stick with normal plastic gear. Next comes the
most important parameter, which is the torque at which the motor operates. Again, there are
many choices here but the commonly available one is the 2.5kg/cm torque which comes with
the Tower pro SG90 Motor. This 2.5kg/cm torque means that the motor can pull a weight of
2.5kg when it is suspended at a distance of 1cm. So, if you suspend the load at 0.5cm then the
motor can pull a load of 5kg similarly if you suspend the load at 2cm then can pull only 1.25.
Based on the load which you use in the project you can select the motor with proper torque.
The below picture will illustrate the same.

Fig. 3.20 Selection of Servo Motor

 How to use a Servo Motor

After selecting the right Servo motor for the project, comes the question how to use it. As we
know there are three wires coming out of this motor. The description of the same is given on
top of this page. To make this motor rotate, we have to power the motor with +5V using the
Red and Brown wire and send PWM signals to the orange colour wire. Hence, we need
something that could generate PWM signals to make this motor work, this something could
be anything like a 555 Timer or other Microcontroller platforms like Arduino, PIC, ARM or
even a microprocessor like Raspberry Pie. Now, how to control the direction of the motor?
To understand that let us a look at the picture given in the datasheet.

Fig. 3.21 Dimension of servomotor

From the picture we can understand that the PWM signal produced should have a frequency
of 50Hz that is the PWM period should be 20ms. Out of which the On-Time can vary from
1ms to 2ms. So, when the on-time is 1ms the motor will be in 0° and when 1.5ms the motor
will be 90°, similarly when it is 2ms it will be 180°. So, by varying the on-time from 1ms to
2ms the motor can be controlled from 0° to 180°.

3.1.6 HCSR-04 Ultrasonic Sensor

The HC-SR04 is a type of ultrasonic sensor which uses sonar to find out the distance of the
object from the sensor. It provides an outstanding range of non-contact detection with high
accuracy & stable readings. The HC-SR04 ultrasonic sensor uses sonar to determine the
distance to an object. This sensor reads from 2cm to 400cm (0.8inch to 157inch) with an
accuracy of 0.3cm (0.1inches), which is good for most hobbyist projects. It includes two
modules like ultrasonic transmitter & receiver. This sensor is used in a variety of applications
like measurement of direction and speed, burglar alarms, medical, sonar, humidifiers,
wireless charging, non-destructive testing, and ultrasonography. The HC-SR04 ultrasonic
sensor includes a transmitter & a receiver. This sensor is used to find out the distance from
the objective. Here the amount of time taken to transmit and receive the waves will decide the
distance between the sensor and an object. This sensor uses sound waves by using non-
contact technology. By using this sensor, the distance which is required for the target can be
measured without damage and provides accurate details. The range of this sensor available
between 2cms to 400cms.

Fig. 3.22 HC-SR04 Ultrasonic Sensor Module & Pinout

Ultrasonic Sensor Pinout Configuration

Pin Number Pin Name Description

1 Vcc The Vcc pin powers the sensor, typically with +5V

2 Trigger Trigger pin is an Input pin. This pin has to be kept high for
 10us to initialize measurement by sending US wave.

3 Echo Echo pin is an Output pin. This pin goes high for a period of
time which will be equal to the time taken for the US wave to
return back to the sensor.

4 Ground This pin is connected to the Ground of the system.

HC-SR04 Sensor Features

 Operating voltage: +5V

 Theoretical Measuring Distance: 2cm to 450cm

 Practical Measuring Distance: 2cm to 80cm

 Accuracy: 3mm

 Measuring angle covered: <15°

 Operating Current: <15mA

 Operating Frequency: 40Hz

Working of HC-SR04 Ultrasonic Sensor

As shown above the HC-SR04 Ultrasonic (US) sensor is a 4-pin module, whose pin names
are Vcc, Trigger, Echo and Ground respectively. This sensor is a very popular sensor used in
many applications where measuring distance or sensing objects are required. The module has
two eyes like projects in the front which forms the Ultrasonic transmitter and Receiver. The
sensor works with the simple high school formula that
Distance = Speed × Time

The Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in air and when it
gets objected by any material it gets reflected back toward the sensor this reflected wave is
observed by the Ultrasonic receiver module as shown in the picture below

Fig. 3.23 Working of HC-SR04 Ultrasonic Sensor

Now, to calculate the distance using the above formulae, we should know the Speed and time.
Since we are using the Ultrasonic wave, we know the universal speed of US wave at room
conditions which is 330m/s. The circuitry inbuilt on the module will calculate the time taken
for the US wave to come back and turns on the echo pin high for that same particular amount
of time, this way we can also know the time taken. Now simply calculate the distance using a
microcontroller or microprocessor.

How to use the HC_SR04 Ultrasonic Sensor?

HC-SR04 distance sensor is commonly used with both microcontroller and microprocessor
platforms like Arduino, ARM, PIC, Raspberry Pie etc. The following guide is universally
since it has to be followed irrespective of the type of computational device used.
Power the Sensor using a regulated +5V through the Vcc ad Ground pins of the sensor. The
current consumed by the sensor is less than 15mA and hence can be directly powered by the
on board 5V pins (If available). The Trigger and the Echo pins are both I/O pins and hence
they can be connected to I/O pins of the microcontroller. To start the measurement, the
trigger pin has to be made high for 10uS and then turned off. This action will trigger an
ultrasonic wave at frequency of 40Hz from the transmitter and the receiver will wait for the
wave to return. Once the wave is returned after it getting reflected by any object the Echo pin
goes high for a particular amount of time which will be equal to the time taken for the wave
to return back to the sensor.

The amount of time during which the Echo pin stays high is measured by the MCU/MPU as
it gives the information about the time taken for the wave to return back to the Sensor. Using
this information the distance is measured as explained in the above heading.

3.1.7 Gear Motor

A gear motor is the combination of a motor and a gearbox. The addition of a gearhead to a
motor reduces the speed while increasing the torque output. DC gear motors come with a
variety of specifications, and in regards to gear motors, the most important are speed (rpm),
torque (lb-in), and efficiency (%). In order to select a suitable gear motor for your usage
requirements, it’s necessary to calculate the appropriate load, speed, and torque.
ZHAOWEI offers a variety of Planetary Gear Motors that can be used in all types of
scenarios. Most of our DC motors can be complemented with one of our gearheads, which
results in a high torque low rpm gear motor. Here, we’ve used the popular 12V DC gear
motor as an example to provide more information about 12V DC gear motor specifications
pertaining to speed (rpm). A 12V DC gear motor is a type of electric motor powered by a
12-volt direct current (DC) supply that includes a built-in gearbox. The gearbox reduces the
speed of the motor's output shaft while increasing its torque. Here’s a breakdown of its key
components and features:
I. DC Motor: The core component that converts electrical energy into mechanical
energy. In this case, it operates on a 12V DC power source.

II. Gear Box: A mechanical device attached to the motor that adjusts the output speed
and torque. By using gears of different sizes, the gearbox can reduce the speed and
increase the torque of the motor's output shaft.
 Fig. 3.24 Gear Motor Module

Key Features and Benefits

I. Torque and Speed Adjustment: The gearbox allows the motor to deliver higher
torque at lower speeds, which is useful for applications requiring strong, precise
movements.
II. Compact Design: Combining the motor and gearbox into one unit saves space
and simplifies the design of machines or devices.
III. Efficiency: The motor can operate efficiently under the specified voltage, making
it suitable for battery-powered and portable applications.

Common Applications

I. Robotics: Used in robotic arms, wheels, and other moving parts

where precise control of speed and torque is required.
II. Automotive: Utilized in window lifts, seat adjustments, and other
automotive mechanisms.
III. Industrial Equipment: Applied in conveyor belts, automatic
doors, and various machinery requiring controlled motion.
IV.Consumer Electronics: Found in devices such as electric toys, home
appliances, and automated systems.

Technical Specifications to Consider

I. Voltage Rating: Ensure the motor is rated for 12V DC to match your
power supply.
II. Speed (RPM): The revolutions per minute of the output shaft, which
will be lower than the motor's base speed due to the gearbox.
III. Torque: The twisting force the motor can exert, which will be
higher at the output shaft thanks to the gearbox.
 IV.Current Draw: The amount of current the motor consumes during
operation, important for power supply considerations.
V. Gear Ratio: The ratio of the gearbox, indicating how much the
motor's speed is reduced
and the torque is
increased.

3.1.8 Water Pump

DC water pumps are powered by direct

current (DC) electricity, transferring fluids
like water between locations. They are crucial in irrigation, water treatment, and industrial
processes, ensuring a steady flow. DC pumps are also found in residential settings like
aquariums, water fountains, and pond filtration systems. DC pumps are widely recognized for
their efficiency, reliability, and minimal maintenance requirements. Available in various sizes
and flow rates, they cater to different applications and fluid types. Consequently, these
versatile pumps ensure smooth operations across various industries. With their precise and
controlled fluid movement, Mini DC water pumps contribute significantly to optimal
performance in diverse settings.

DC pumps, also called direct current pumps, are highly adaptable devices widely used in
different industries. Unlike AC pumps, DC pump’s function using direct current (DC) power,
which sets them apart. This unique characteristic makes DC pumps adaptable for both on-grid
and off-grid applications. With efficient fluid transfer capabilities, DC pumps handle a wide
range of fluids, such as water, chemicals, and other liquids, with precise control. Their
versatility ensures their importance in various sectors where accurate and controlled fluid
movement is crucial. Whether it’s irrigating crops, treating water, or handling chemicals, DC
pumps deliver reliable and precise fluid transfer, catering to the needs of different industries
with efficiency and adaptability.

One of the key advantages of DC pumps is their energy efficiency. They consume less power
than AC pumps, lowering energy costs and reducing environmental impact. People
commonly employ DC pumps in solar-powered systems, allowing them to harness energy
from renewable sources and function autonomously, detached from the electrical grid. This
makes them ideal for remote locations, agriculture, and irrigation systems. Embark on a
sustainable journey with our Mini DC Water Pump Project – DIY Solar Powered kit that
harnesses the sun’s energy to drive efficient water circulation effortlessly.
 Fig. 3.25 DC Water Pump Module

Specifications of DC Water Pump

There are several key specifications to consider when selecting a DC pump:

i. Head Pressure: This is the maximum height that the pump can lift the fluid, measured in
feet (ft) or meters (m). The head pressure will determine the maximum vertical distance
that the pump can move the fluid.

ii. Voltage: Direct current (DC) electricity powers DC water pumps, and it is essential to
ensure that the pump’s voltage matches the power source’s voltage.

iii. Flow Rate: This is the amount of fluid the pump can move per unit of time, typically
measured in litters per minute (L/min) or gallons per minute (GPM). The flow rate must
adequately meet the system’s requirements in which the pump will operate.

iv. Current: The pump’s electricity consumption is typically measured in amperes (A). The
pump’s current draw will depend on the size of the motor and its flow rate.

v. Motor Power: The motor’s power output is typically measured in watts (W). Motor
power determines the pump’s flow rate and head pressure.

vi. Material: Constructing the pump housing and impeller using a material compatible with
the pumped fluid is crucial. Common materials include stainless steel, plastic, and brass.

vii. Size: The pump size should suit the application and the available space.

viii. Operating Temperature: The pump should operate within a suitable temperature range
for the application.

ix. Certification: The pump should be certified by an organization like UL or CSA in the
intended application.

Working of DC Water Pump

DC pumps use direct current electricity to power a motor, which drives an impeller to
move fluid from one place to another. Here’s how a DC pump works:

o The operator connects the DC pump to a power source and switches it on.
o Electricity flows through the motor, causing it to turn.
 o The rotating motor drives the impeller, a wheel with blades or vanes that push the fluid
through the pump.
o As the impeller rotates, it creates a low-pressure area in the pump’s canter, drawing
fluid into the pump.
o The impeller propels the fluid outward, pushing it through the pump’s outlet and
facilitating fluid movement from the inlet to the outlet.
o Adjusting the motor speed can control fluid flow, typically achieved using a variable-
frequency drive or other control systems.

Fig. 3.26 Working of DC Water Pump Module

3.1.9 Mopper
A mopper is a person who is unhappy or dissatisfied with their current situation or
circumstances. This individual may appear sad, dejected, or disinterested in their
surroundings. The term “mopper” is often used to describe someone who is in a state of
emotional distress or who is experiencing a difficult time in their life. Unlike a mopper, a
mopper is not typically associated with a specific job or task. Instead, the term is used to
describe a person’s emotional state or attitude. A mopper may be someone who is going
through a breakup, dealing with a personal loss, or struggling with mental health issues.
It’s important to note that the term “mopper” can have negative connotations and may be
seen as a derogatory term. It’s important to be sensitive to the feelings of others and to
avoid using labels that may be hurtful or offensive.

A mopper is a worker who uses a mop to clean a surface. A mopper can be an individual
or a tool responsible for mopping or cleaning floors or other surfaces using a mop. The
term "mopper" is used to describe a person who works at a specific occupation.
 Fig. 3.27 Mopper used our project

3.1.10 Buzzer
An audio signaling device like a beeper or buzzer may be electromechanical or piezoelectric
or mechanical type. The main function of this is to convert the signal from audio to sound.
Generally, it is powered through DC voltage and used in timers, alarm devices, printers,
alarms, computers, etc. Based on the various designs, it can generate different sounds like
alarm, music, bell & siren.

Fig. 3.27 Buzzer pin configuration

The pin configuration of the buzzer is shown below. It includes two pins namely positive and
negative. The positive terminal of this is represented with the ‘+’ symbol or a longer terminal.
This terminal is powered through 6Volts whereas the negative terminal is represented with the
‘-’ symbol or short terminal and it is connected to the GND terminal.

Buzzer Features and Specifications

 Rated Voltage: 6V DC
 Operating Voltage: 4-8V DC
 Rated current: <30mA
 Sound Type: Continuous Beep
 Resonant Frequency: ~2300 Hz
 Small and neat sealed package
 Breadboard and Perf board friendly

How to use a Buzzer

A buzzer is a small yet efficient component to add sound features to our project/system. It is
very small and compact 2-pin structure hence can be easily used on breadboard, Perf Board
and even on PCBs which makes this a widely used component in most electronic
applications.
There are two types of buzzers that are commonly available. The one shown here is a simple
buzzer which when powered will make a Continuous Beeeeeeppp.... sound, the other type is
called a readymade buzzer which will look bulkier than this and will produce a Beep. Beep.
Beep. Sound due to the internal oscillating circuit present inside it. But the one shown here is
most widely used because it can be customized with help of other circuits to fit easily in our
application.
This buzzer can be used by simply powering it using a DC power supply ranging from 4V to
9V. A simple 9V battery can also be used, but it is recommended to use a regulated +5V or
+6V DC supply. The buzzer is normally associated with a switching circuit to turn ON or turn
OFF the buzzer at required time and require interval.

Types of Buzzers
A buzzer is available in different types which include the following.
o Piezoelectric
o Electromagnetic
o Mechanical
o Electromechanical
o Magnetic

Chapter: - 4
 Software Description

4.1 Software Simulation of Our Project

The Proteus Plan Suite is a prohibitive programming instrument suite used

fundamentally for electronic arrangement movement. The item is used mainly by
electronic arrangement planners and specialists to make schematics and electronic
prints for gathering printed circuit stacks up. It was made in Yorkshire, Britain by lab
center Hardware Ltd and is available in English, French, Spanish and Chinese
tongues. The essential type of what is as of now the Proteus Plan Suite was called PC-
B and was created by the association chief, John Jameson, for dos in 1988. Schematic
Catch support proceeded in 1990, with a port to the Windows environment as of now.
Mixed mode flavor entertainment was first organized into Proteus in 1996 and
microcontroller reenactment then displayed in Proteus in 1998. Shape based auto
coordinating was incorporated 2002 and 2006 saw another huge thing update with 3D
Board Perception. Even more lately, a serious IDE for amusement was added in 2011
and MCAD import/convey was associated with 2015. Support for quick arrangement
was incorporated 2017.Feature drove thing conveys are commonly half-yearly, while
upkeep-based help packs are conveyed as it is required. he little controller
reenactment in Proteus works by applying either a hex record or an investigate report
to the microcontroller part on the schematic. It is then core produced close by any
basic and progressed equipment related with it. This engages its use in a wide scope
of undertaking prototyping in districts, for instance, motor control, temperature
control and UI plan.

• NXP 8051, ARM7, ARM cortex and ARM Cortex-M3 Microcontrollers.

• Texas instrument MSP430, PICCOLO DSP and ARM Cortex-M3
• Microcontrollers.
• Parallax Basic Stamp, Freescale HC11, 8086 Microcontrollers.

Chapter: - 5
 Future scope

Creating an IoT-based floor cleaning robot with a live streaming camera involves integrating
various technologies and features to ensure it functions effectively and provides real-time
monitoring. Here's a detailed feature scope for such a robot:

7.1Core Features:

1. Autonomous Navigation:
 Sensors: LIDAR, ultrasonic sensors, infrared sensors, and bump sensors for
obstacle detection and avoidance.
 Mapping: SLAM (Simultaneous Localization and Mapping) to create and update
maps of the environment.
 Path Planning: Algorithms to determine the most efficient cleaning route.

2. Live Streaming Camera:

 Camera Quality: High-definition camera (1080p or higher) for clear live
streaming.
 Streaming Technology: Real-time streaming protocol (RTSP) or similar for low
latency streaming.
 Remote Access: Ability to view the live stream via a mobile app or web interface.

3. Cleaning Mechanisms:
 Vacuuming: Powerful suction with adjustable settings for different floor types.
 Sweeping: Rotating brushes to collect debris into the vacuum path.
 Mopping: Integrated water tank and mopping pad system for wet cleaning.

4. Connectivity:
 Wi-Fi: For remote control and live streaming.
 Bluetooth: For initial setup and close-range communication.
 Cloud Integration: For data storage, analytics, and remote firmware updates.

5. Remote Control and Monitoring:

 Mobile App: User-friendly app for iOS and Android to control the robot, view live
streams, schedule cleaning tasks, and receive notifications.
 Web Interface: Browser-based control panel for similar functionalities as the mobile
app.
 6. Smart Home Integration:
 Voice Control: Compatibility with smart home assistants like Amazon Alexa and
Google Assistant.
 IFTTT Support: Integration with If This Then That for customizable automation
workflows.

7.2 Advanced Features:

1. Artificial Intelligence:
 Object Recognition: Using AI to identify and avoid obstacles, such as furniture or
dropped items.
 Behavior Learning: Machine learning algorithms to optimize cleaning patterns
based on user habits and home layout.

2. Battery Management:
 Long Battery Life: High-capacity battery for extended cleaning sessions.
 Auto-Recharging: Automatic return to the docking station for recharging when the
battery is low, then resumption of cleaning from the last position.

3. Multi-Floor Support:
 Floor Recognition: Ability to recognize and adapt to different floors in a multi-story
home.
 Stored Maps: Save and switch between different floor maps.

4. Maintenance Alerts:
 Consumable Monitoring: Alerts for replacing filters, brushes, and mop pads.
 Error Alerts: Notifications for issues such as stuck brushes or blocked pathways.

7.3 Security Features:

1. Secure Connection:
 Encrypted Communication: Ensuring data transmitted between the robot, mobile
app, and cloud servers is encrypted.
 User Authentication: Secure login mechanisms for accessing the robot's controls
and live feed.

2. Privacy Controls:
  Camera Disable Option: Physical or software switch to turn off the camera when
not needed.
 Access Logs: Logs of when and where the live stream was accessed.

7.4 User Experience Enhancements:

1. Voice Notifications:
 Status Updates: Voice alerts for starting, stopping, and completing tasks.
 Error Announcements: Informing the user of any issues encountered.

2. Customizable Cleaning Modes:

 Spot Cleaning: Focused cleaning on specific areas.
 Edge Cleaning: Special mode for cleaning along walls and corners.

3. Scheduled Cleaning:
 Routine Schedules: Set specific times for the robot to clean automatically.
 Zone Cleaning: Define specific areas or rooms to be cleaned at certain times.

4. Multi-User Support:
 Profiles: Different user profiles with personalized settings and schedules.

Implementing these features will result in a robust and versatile IoT-based floor cleaning
robot, providing both effective cleaning and real-time monitoring capabilities.

Chapter: - 8
 Conclusion

 Integrating IoT technology into a floor cleaning robot has significantly enhanced its
efficiency by allowing remote monitoring and control, thus reducing manual
intervention and increasing productivity.

 The incorporation of a live streaming camera enables users to monitor the cleaning
process in real-time, providing valuable insights into the robot's performance and
allowing for immediate adjustments if necessary.

 The data collected through IoT sensors and the live streaming camera can be analyzed
to identify patterns, trends, and areas for improvement, facilitating data-driven
decision-making for optimizing cleaning processes and resource allocation.

 Users benefit from the convenience of remotely controlling the robot and monitoring
cleaning progress from anywhere, leading to enhanced user satisfaction and
engagement with the product.

 The automation and efficiency improvements offered by IoT-based floor cleaning

robots can result in cost savings for businesses by reducing labor costs, minimizing
resource wastage, and prolonging the lifespan of cleaning equipment.

 By optimizing cleaning processes and resource usage, IoT-enabled robots contribute

to environmental sustainability by minimizing energy consumption and reducing the
use of chemical cleaning agents.

 The modular design and IoT integration make the floor cleaning robot scalable and
adaptable to various environments and cleaning requirements, ensuring versatility and
long-term usability.

 As IoT technology continues to evolve, there is vast potential for further

enhancements in the functionality and capabilities of floor cleaning robots, including
predictive maintenance, autonomous navigation, and integration with smart home
systems.
In summary, the integration of IoT technology and live streaming camera functionality into
floor cleaning robots offers numerous benefits such as enhanced efficiency, real-time
monitoring, data-driven insights, improved user experience, cost savings, environmental
sustainability, scalability, and promising future prospects for innovation and advancement in
the field.
Chapter: - 9
Result of Project

The IoT-based floor cleaning robot with a live streaming camera represents a significant Sure,
here's a comprehensive overview of the result of an IoT-based floor cleaning robot with a live
streaming camera, outlined in point form within a 1000-word limit:

1. Efficiency Boost:

 The integration of IoT technology enables the floor cleaning robot to operate
autonomously, optimizing cleaning routines and reducing manual intervention.
 Real-time monitoring and control functionalities enhance efficiency, allowing users to
remotely schedule cleaning tasks and monitor progress.

2. Enhanced Cleaning Performance:

 The incorporation of advanced sensors facilitates precise navigation and obstacle

avoidance, ensuring thorough cleaning coverage and minimal disruptions.
 IoT connectivity enables seamless data exchange between the robot and the central
server, facilitating continuous performance improvements through machine learning
algorithms and data analytics.

3. Live Streaming Capability:

 Integration of a live streaming camera provides users with real-time visual access to
the cleaning process, enhancing transparency and enabling remote supervision.
 Live video feed can be accessed through a dedicated mobile application or web
interface, allowing users to monitor cleaning progress from anywhere at any time.

4. Remote Control and Monitoring:

 IoT-enabled remote control functionality enables users to initiate, pause, or stop

cleaning operations remotely, providing greater flexibility and convenience.
 Real-time monitoring of cleaning parameters such as battery status, cleaning
progress, and error notifications enhances operational oversight and facilitates
timely interventions.
5. Customizable Cleaning Modes:

 The IoT platform offers customizable cleaning modes, allowing users to tailor
cleaning parameters such as cleaning schedule, route optimization, and suction
power based on specific requirements and preferences.
 Machine learning algorithms analyze user behavior and environmental data to
optimize cleaning strategies over time, maximizing cleaning efficiency and
effectiveness.

6. Data Analytics and Insights:

 IoT-enabled data collection and analytics capabilities provide valuable insights into
cleaning performance, usage patterns, and operational efficiency.
 Analytical dashboards and reports offer actionable intelligence, enabling users to
identify trends, diagnose issues, and make informed decisions to optimize cleaning
operations and resource allocation.

7. Integration with Smart Home Ecosystem:

 Seamless integration with existing smart home ecosystems allows the floor cleaning
robot to interact with other IoT devices such as smart speakers, thermostats, and
lighting systems.
 Cross-device automation and integration enhance user experience and enable
advanced functionalities such as voice-activated cleaning commands and
coordinated home cleaning routines.

8. User-Friendly Interface:

 Intuitive user interface design ensures ease of use and accessibility for users of all
technical skill levels.
 Mobile applications and web interfaces offer intuitive navigation, interactive
controls, and informative feedback, enhancing user engagement and satisfaction.

9. Scalability and Future Expansion:

 The modular design and open architecture of the IoT platform facilitate scalability
and future expansion, allowing for seamless integration of additional features,
sensors, and third-party services.
  Continuous software updates and firmware upgrades ensure compatibility with
evolving IoT standards and technological advancements, future-proofing the floor
cleaning robot for long-term usability and relevance.

10. Cost-Efficiency and ROI:

 Despite the initial investment required for IoT-enabled hardware and software
components, the long-term benefits of enhanced cleaning performance, operational
efficiency, and reduced maintenance costs contribute to a favorable return on
investment (ROI).
 Quantifiable metrics such as labor savings, reduced downtime, and improved
cleaning outcomes justify the upfront investment and position the IoT-based floor
cleaning robot as a cost-effective solution for residential, commercial, and
industrial applications.

In summary, the result of integrating IoT technology and live streaming camera functionality
into a floor cleaning robot encompasses a wide range of benefits, including enhanced
efficiency, cleaning performance, remote control and monitoring capabilities, customizable
cleaning modes, data analytics insights, smart home integration, user-friendly interface,
scalability, and cost-efficiency, culminating in a compelling value proposition for users
seeking advanced cleaning solutions.

Chapter: - 9
 Our Project

Chapter: - 9
 Our Publications

1. A REVIEW ON “IoT BASED FLOOR CLEANING ROBOT WITH

LIVE STREAMING” Published in STM Journal.
2. A RESEARCH ON “IoT BASED FLOOR CLEANING ROBOT WITH
LIVE STREAMING” Drafted in STM Journal.
3. A PATENT FILLING OF “IoT BASED FLOOR CLEANING ROBOT
WITH LIVE STREAMING”.
Application No.: - TEMP/E-1/47254/2024-DEL (Drafted)

Chapter: - 10
 Reference

[3] H. Rashid, A. Mahmood, S. Shekha, S. M. T. Reza, and M. Rasheduzzaman, “Design and

development of a DTMF controlled room cleaner robot with two path-following method,” in
201619th International Conference on Computer and Information Technology (ICCIT), 2016, pp. 484
—489.

[6] F. Vaussard et al., “Lessons learned from robotic vacuum cleaners entering the home ecosystem,”
Rob. Auton. Syst., vol. 62, no. 3, pp. 376- 391,2014.

[7] Y. Liang, L. Xu, R. Wei, B. Zhu, and H. Hu, “Behavior-based fuzzy control for indoor cleaning robot
obstacle avoidance under dynamic environment,” in Proceedings - 3rd International Conference on
Measuring Technology and Mechatronics Automation, ICMTMA 2011, 2011, vol. 1, pp. 637-640.