CERTIFICATE

This is certify that the dissertation work “ Smart Vacuum Cleaner Robots “ was carried out by.
Sadaram Bhargav ( 228330165 ) in partial Fulfilment for the award of Bachelor of Technology
in Electronic and Communication Engineering of the Dr. Shakuntala Misra National
Rehabilitation University, Lucknow, during the academic year 2022-25. It is certified that all
correction/ Suggestion indicated for internal assessment have been incorporated in the port and
deposited in the departmental library. The project report has been approved as it satisfies the
academic requirement regarding the project work prescribed for the said degree.

Supervisor Supervisor & Co-ordinator

Mr. Anil Gaur Dr. Shekhar Yadav

Department of (E.C.E) Department Coordinator (E.C.E)
I.E.T, DSMNRU, LUCKNOW I.E.T, DSMNRU, LUCKNOW

DATE :

PLACE : I.E.T, DSMNRU, LUCKNOW

i
 CANDIDATES DECLARATION

I at this moment declare that the work presented in this report entitled “Smart Vacuum Cleaner
Robots” is my work carried out under the guidance of Dr. Shekhar Yadav, co-ordinator,
Departments of Electronic and Communication Engineering (ECE) and Mr. Anil Gaur,
Assistant Professor, Departments of Electronic & Communication Engineering (ECE).

To the best of my knowledge, this work is original and has not been previously submitted for
any other degree or diploma at this or any other institution. The project was carried out during
the academic years 2022 – 2025. Throughout this period, I dedicated considerable effort and
time to research, design, and implement the various components of Smart Vacuum Cleaner
Robot. This Project aimed to develop a Vacuum Cleaning Robots. This is capable of crafting
intricate designs while significantly reducing both time and manual effort under the supervision
of Dr. Shekhar Yadav and Anil Gaur, I received valuable guidance and insights that
significantly contributed to the Successful completion of this project.

Their expertises in the field of ECE, along with their continuous support, were instrumental in
navigating the challenges encountered during the project development. The feedback and
suggestions provided by both Dr. Shekhar Yadav and Mr. Anil Gaur helped refine the project
and ensured that it adhered to high academic and coursework and practical session as
prescribed by the curriculum of Dr. Shakuntala Misra National Rehabilitation University
(DSMNRU).

These academic activities have equipped me with the necessary theoretical knowledge and
practical skills to undertake and execute a project of this magnitude. I certify that the above
information is true to the best of my knowledge and belief. I am aware of the consequences of
any misrepresentation of facts and affirm that the work documented in this report is a result of
my sincere efforts and dedication towards achieving the project goals. The Smart Vacuum
Cleaner Robots represents the culmination of my academic learning and practical application
throughout my degree program.

Submitted By-

Sadaram Bhargav
Department ECE
I.E.T, DSMNRU, LUCKNOW
Date :

ii
 APPROVAL SHEET

This Project entitled “ Smart Vacuum Cleaner Robot” by Sadaram Bhargav (228330165) is
approved for the degree of Bachelor of Technology in Electronic and Communication
Engineering.

Signature of Signature of
Supervisor Coordinator

DATE:

PLACE: I.E.T, DSMNRU, LUCKNOW

iii
 ACKNOWLEDGEMENT

I am Sincerely grateful to all those who have contributed to the successful completion of this
project on “Smart Vacuum Cleaner Robots”.
First and foremost, I would like to express my deepest gratitude to co - ordinator Dr. Shekhar
Yadav, & Mr. Anil Sir Department of Electronic and communication Engineering (ECE) at
I.E.T DSMNRU, for their invaluable guidance, continuous support, and encouragement
throughout the course of this project. Their expertise and insights have been instrumental in
shaping this work and ensuring its success. The feedback and Suggestion provided by both
were critical in navigating the challenges encountered during the project development and in
refining the final outcome.
I would also like to extend my thanks to the faculty members of the Department of Electronic
and Communication Engineering at I.E.T DSMNRU for their assistance and for providing a
conductive learning environment. Their dedication to teaching and their willingness to help
have greatly contributed to my academic growth and the Successful completion of this project.
Special thanks to Assistant Professor Mr. Anil Gaur for his constant support and helpful
suggestions during the research and developments phases of this project. His insights and
constructive criticism were invaluable in overcoming various obstacles and improving the
quality of the work presented.
I am also deeply grateful to my family and friends for their unwavering support and
understanding throughout this journey. Their encouragement and belief in my abilities have
been a source of strength and motivation, enabling , me to persevere and achieve the project’s
Objectives.I am also thankful to my peers and fellow students for their camaraderie and
collaborative spirit, which fostered a positive and stimulating academic environment.
Finally, I express my gratitude to Dr. Shakuntala Misra National Rehabilitation University
(DSMNRU) for providing the necessary facilities and resources that facilitated the successful
execution of this project.
Thank You all for your invaluable contribution and support.

Submitted by-
Sadaram Bhargav
Department E.C.E
I.E.T DSMNRU , LUCKNOW
Date -

iv
 ABSTRACT

Smart Vacuum Cleaner Robots are autonomous cleaning devices designed to optimize indoor
cleaning processes. These robots utilize advanced sensors such as infrared and LiDAR for
obstacle detection and environment mapping, ensuring efficient navigation in both residential
and commercial spaces. Equipped with motorized suction systems and brush mechanisms, they
effectively remove dust and debris from various floor types, including hardwood, tiles, and
carpets.
The integration of AI-powered algorithms allows adaptive cleaning patterns, optimizing energy
consumption and reducing redundant movement. Additionally, IoT connectivity enables
remote monitoring and control via smartphone applications, allowing users to schedule
cleaning tasks and track real-time performance. Some models include voice control
compatibility, improving accessibility.
This project explores the design, working principles, and implementation of Smart Vacuum
Cleaner Robots, detailing key components such as motion control systems, battery
management, and dirt-detection technologies. The aim is to enhance cleaning automation while
improving energy efficiency and user convenience.
Key Components of smart vacuum cleaner Robots –

1. 1.Sensors & Navigation Systems – LiDAR, infrared, ultrasonic sensors for obstacle
detection and mapping.
2. 2.Motorized Suction Unit – Efficient dust collection mechanism with adjustable
suction power.
3. 3.Brush System – Rotating brushes and side sweepers for enhanced debris pickup.
4. 4.Battery & Charging Mechanism – Rechargeable lithium-ion battery with auto-
docking capability.
5. 5.IoT & Connectivity Features – WiFi-enabled remote operation via mobile apps.
6. 6.Dust Detection Module – Sensors to identify high-dirt areas and adjust cleaning
intensity.

v
6
 CHAPTER 1
INTRODUCTION

1.1 Background
This project aims to develop a robotic vacuum cleaner that uses three ultrasonic sensors and an
Arduino Uno microcontroller to navigate around obstacles and walls in a room while efficiently
cleaning the floor. The ultrasonic sensors provide accurate distance measurements, allowing
the vacuum cleaner to detect and avoid obstacles and walls. The Arduino Uno serves as the
brain of the robotic vacuum cleaner, processing the sensor data and sending signals to the motor
to change direction as needed.

The goal of this project is to create a functional and effective robotic vacuum cleaner that can
demonstrate the potential of using advanced technologies to solve everyday problems. By
exploring the capabilities of ultrasonic sensors and microcontrollers, we hope to create a device
that can make cleaning tasks easier and more efficient for individuals and families.

Figure 1.1 : Baise Diagram of Smart Vacuum Cleaner Robots

1.2 Problem Statements

Manual cleaning is time-consuming, labor - intensive, and inconsistent in efficiency.

Traditional vacuum cleaners require human intervention for operation, leading to challenges in
accessibility, especially for elderly users or individuals with mobility issues. Additionally,
cleaning large spaces or navigating around obstacles manually reduces productivity.

1
Smart vacuum cleaner robots aim to solve these problems by introducing automation,
obstacle avoidance, and wireless control features, ensuring uninterrupted and optimized
cleaning cycles.

1.3 Scope of Smart Vacuum Cleaner Robots

The scope of smart vacuum cleaner robots extends beyond residential cleaning to commercial
and industrial applications. These robots are designed to:
1. Enhance cleaning efficiency by using automated dust absorption systems.
2. Integrate Bluetooth or Wi Fi connectivity for remote control and smart home
automation.
3. Improve obstacle avoidance and navigation using LiDAR, infrared, and ultrasonic
sensors.
4. Reduce energy consumption with optimized battery management and intelligent
charging systems.

5. Expand usability to large spaces such as hotels, offices, and healthcare facilities .

2
 CHAPTER 2
METHODOLOGY

2.1 System Architecture

The Arduino is powered by a power source once the system is turned on, and the vehicle moves
with the help of a motor driver and caster wheel until an impediment is identified. The
Arduino's motor driver and program allow the robot to adjust its trajectory in the event that it
encounters an obstruction. Robots are machines having movements that have been
preprogrammed to move in specific directions or patterns. Robots can now analyse
information; they can acquire information about their environment from electronic sensors and
make decisions based on that knowledge. Small robots can be built using Arduino boards, and
their controls are definable by basic logic. However, because onboard computing power and
software are sometimes constrained, developers are frequently unable to advance to more
complicated robots.
The robot goes continuously in a different direction throughout the room, covering the entire
area. The robot's hoover cleaner is also turned on while it moves. The hoover cleaner sweeps
the area it moved clean by collecting the dust particles.
Smart Vacuum Cleaner Robot works in two mode .when it is given power supply in the first
mode it avoids the object and cleans the surrounding dust.
In the second mode, this smart vacuum cleaner robots is connected to Bluetooth and is
controlled by the app with the help of Bluetooth.

Figure 2.1 Smart Vacuum Cleaner Robots

3
2.2 System Design & Component Selection
1. Suction System: Includes a DC motor-driven fan to generate airflow for dust
absorption.
2. Bluetooth Control Module: Enables wireless communication between the robot and a
smartphone or remote.
3. Obstacle Avoidance System: Uses IR sensors, ultrasonic sensors, or LiDAR to detect
and avoid objects.
4. Motor Drive System: DC motors or servo motors for wheel movement and brush
rotation.
5. Power Management: A rechargeable battery with auto-charging capability.

2.3 Development of Suction & Cleaning Mechanism

1. DC Motor & Fan Integration: A high-speed DC motor powers the fan to generate
suction force.
2. Dust Filtration System: HEPA filters or cyclonic separation ensure efficient dust
trapping.

2.4 Bluetooth Communication & Remote Control

1. Bluetooth Module Implementation: A HC-05 or HM-10 module is used to establish a
wireless connection.
2. Mobile App Integration: Develop an app for real-time control, monitoring, and
scheduling.
3. Command Processing: The vacuum receives signals to start, stop, adjust speed, or
modify cleaning modes.

2.5 Obstacle Detection & Navigation System

1. Sensor Selection: Ultrasonic, or LiDAR sensors detect obstacles in real time.
2. Path Planning Algorithm: The robot determines alternate movement if an obstacle is
detected.
3. Motor Speed Adjustments: Based on sensor feedback, the motor modifies speed and
direction to avoid collisions.

2.6 Final Optimization & Deployment

1. Software Refinement: Ensure smooth integration between sensors, motors, and
Bluetooth control.
2. User Interface Enhancement: Improve mobile app usability for better remote operation.

4
 CHAPTER 3
DEVICE DESIGN AND FEATURES

3.1 Arduino Uno

Arduino Uno Based on the ATmega328P microcontroller, the Arduino Uno is a well-known
and extensively used microcontroller board. It is one of the most common boards in the Arduino
family andis often the go to choice for beginners and enthusiasts due to its simplicity and
versatility.
Key features and characteristics of the Arduino Uno are :
1. Microcontroller
2. Digital and Analog I/O
3. Programming
4. Communication Interfaces
5. Shields and Expansion

Figure 3.1 Arduino Uno Board

3.2 4WD Smart Car
4WD smart car is the high price of car chassis built specifically for robot entry car motor ,power
supply can support 3V to 12V. It is very much suitable for expanding the test. The components
available with the 4WD Smart car are:
i) Gear Motor
ii) Battery box
iii) Wheel
iv) Switch
v) Board
vi) Jumper Wire

5
 Figure3.2 4WD Smart Car

3.3 Ultrasonic sensor

An ultrasonic sensor is a device that detects the object and measures distances using sound
waves at a frequency higher than what is audible to humans. It does this by releasing ultrasonic
waves and timing how long it takes for the waves to return after striking an object in order to
determine how far away the object is from the sensor.

Figure 3.3 : Sensor

6
3.4 L298N Motor Drive
A motor drive is an electronic device that controls the operation of an electric motor by
regulating its speed, torque, and direction. It acts as an intermediary between the power source
and the motor, ensuring smooth and efficient performance based on specific requirements.
A motor drive is an essential device used to control the speed, torque, and direction of an
electric motor. It converts electrical energy into mechanical motion by regulating voltage and
current. Motor drives are commonly used in various applications, including:

 Motor Drive is used in Smart Vacuum Helps regulate wheel movement and brush
rotation for efficient cleaning.
 Motor Drive is Used of various Application like Drone, Electric Vehicles.

Figure 3.4 : Motor Drive

3.5 DC Motor
A motor fan in Smart Vacuum Cleaner Robots is responsible for generating suction power,
allowing the robot to absorb dust and debris efficiently. It works by spinning rapidly, creating
airflow that draws dirt into the collection chamber.
1. Airflow Generation – A high-speed DC motor powers the fan, creating strong suction
force.

7
 2. Dust Absorption – As the fan spins, it creates negative pressure, pulling in dust from
the surrounding area.
3. Filtration System – The air carrying dust passes through a HEPA filter or cyclonic
separation system, trapping fine particles.

4. Debris Storage – Cleaned air is expelled, while dust and dirt settle into a dustbin
compartment for easy disposal.
5. Adaptive Suction Control – The vacuum adjusts fan speed based on sensor feedback
to optimize cleaning efficiency.

Figure 3.5: DC Motor

3.6 Servo Motor

A servo motor is a type of motor that provides precise control over movement, speed, and
position. It operates using a closed-loop system, meaning it continuously adjusts its motion
based on feedback to ensure accuracy.
A servo motor is used in smart vacuum cleaner robots to control movements precisely. It helps
adjust brush position, suction nozzle angle, and wheel direction for better cleaning.
How a Servo Motor Works
1. Receives a Signal – The vacuum’s controller sends a command telling the servo what
position to move to.

2. Rotates to the Exact Position – The servo motor moves to the needed angle, helping
adjust parts like brushes or wheels.
3. Checks Position with a Sensor – The motor has a built-in sensor (encoder or
potentiometer) that checks if it's in the right spot.
4. Keeps Adjusting – If the position is wrong, the servo corrects itself to stay accurate.

8
 Figure 3.6 : Servo Motor

3.7 Bluetooth Module

A Bluetooth module in smart vacuum cleaner robots enables wireless communication between
the vacuum and a smartphone or other control device. It allows users to send commands,
receive status updates, and even integrate with other smart home systems.
How does Work

1. Pairing – The vacuum cleaner pairs with a smartphone or remote controller via
Bluetooth.

2. Data Transmission – Commands (like "Start Cleaning" or "Change Mode") are

sent wirelessly to the vacuum.

3. Real-Time Updates – The vacuum sends back information on battery status,

cleaning progress, and any detected obstacles.

4. Control & Scheduling – Users can set cleaning schedules, monitor movements,
and adjust settings remotely.

5. Using of Bluetooth Module in Smart Vacuums – Used in Remote Control

and Wireless data sharing .

Figure 3.7 : Bluetooth Modules

9
3.8 Relay Module
A relay module is an electronic device that allows low-power control circuits (like
microcontrollers) to switch high-power devices on or off. It acts as an electrically operated
switch, using an electromagnetic coil to open or close connections.
1. Input Signal: A small electrical signal (from a microcontroller, like an Arduino)
activates the relay coil.

2. Switching Mechanism: This action opens or closes a circuit, allowing or stopping

current flow to the high-power device (like motors, lights, or appliances).

3. Relay Module of Use in motor fan control . Relay Module is On /off work like switch
in Motor fan.

Figure 3.8: Relay Module

3.9 Vacuum System

A vacuum cleaner system uses suction from a motor to collect dirt and debris into a dustbin or
bag. It features a filtration system to trap particles, a nozzle or brush for cleaning, and may
include smart controls for scheduling and adjusting settings. Robotic vacuums also use sensors
for navigation and automatic recharging.

Figure 3.9: Vacuum Cleaner

10
 CHAPTER 4
FUNCTIONING OF PROJECT

4.1 Arduino IDE

The Program or code written in the Arduino IDE is often called as sketching. We need to
connect the Arduino Board with the IDE to upload the sketch written in the Arduino IDE
software. The sketch is saved with the extension.
The Arduino IDE will appear as:

Figure 4.1 Arduino Uno

4.1.1 Upload
The Upload button compiles and runs our code written on the screen. It further uploads the
code to the connected board. Before uploading the sketch, we also need a USB connection to
connect the board and the computer. Once all the above measures are done, click on the upload
button present on the toolbar as soon as the uploading is done successfully , we can notice the
blink of the Tx and Rx LED.

4.1.2 File
When we click on the file button on the menu bar, a drop – down list will appear. It is shown
below.

11
 Figure 4.2: File Menu

4.1.3 Libraries
It Show the updated list of all the installed libraries. We can also use option to install a new
library into the Arduino IDE.

4.1.4 Port
It Consists of the Virtual and real serial devices present on our machine.

4.1.5 Get Board Info

It gives the information about the selected board. We need to select the appropriate port before
getting information about the board.

Figure 4.3: Get Board Info

12
4.1.6 Download the Arduino Software (IDE)
Get the latest version from the download page. You can choose between the Installer (.exe) and
the Zip packages. We suggest you use the first one that installs directly everything you need to
use the Arduino Software (IDE), Including the drives. With the zip package you need to install
the drives manually. The zip file is also useful if you want to create a installation. When the
download finishes, proceed with the installation and please allow the drive installation process
when you get a warning from the operating system.

Figure 4.4 Arduino Installation set up

4.2 Software Program

The Arduino software (IDE), an integrated development environment created by arduino.cc, is
free and open source software that is used to program Arduino boards. Permit Arduino boards
to be programmed and uploaded with code. It also includes a number of libraries and a
collection of miniature project examples.
The C/C++ programming languages are supported by the Arduino software (IDE), which is
compatible with multiple operating systems (Windows, Linux, and Mac OS X). Beginners and
more experienced users can both easily utilise the Arduino software. It is used to create
interactive prototypes and get started with robotics and electronics programming. Software like
Arduino can be used to create new objects. everyone (children, hobbyists, engineers,
programmers, etc.) can design and develop new electronic projects.

13
 Figure 4.5 Arduino Uno Software

4.3 Obstacle Avoidance Mode 1

The robot vacuum is equipped with sensors and advanced navigation technology to detect and
avoid obstacles in its path. This includes furniture, walls, and other objects. The robot can
change direction or slow down when it encounters something in its way, preventing collisions
or damage to both the vacuum and household items. Some models even come with cameras or
LIDAR to map out rooms and plan efficient cleaning routes while avoiding obstacles
effectively.
Mode 1: when we turn on the supply and select it in mode 1 then it avoids our obstacles. The
Smart vacuum Cleaner Robot Automatically avoid object and cleans the dust with the help of
continuous vacuum.
With the help of Arduino Software the servo and ultrasonic sensor are Controlled. With the
help of the program the servo motor rotates and with the help of the program it transmits the
ultrasonic signal and receives the signal.

4.4 Bluetooth App Control

The vacuum cleaner can be controlled through a dedicated mobile app via Bluetooth. Users can
connect their smartphone to the vacuum and access advanced settings like scheduling cleaning
times, adjusting cleaning modes (e.g., quiet mode, turbo mode), and monitoring the cleaning
progress. The app may also provide notifications when the dustbin is full or when maintenance
is needed, offering greater control and flexibility.
Mode 2 : When we select mode second then we use the Bluetooth module in the second mode
and the Bluetooth module connects to the phone. We install the Arduino Bluetooth app in the
phone and after giving the command in the app, we control the smart vacuum cleaner Robots
from the app.

14
Start : On clicking start button in the Bluetooth app our vacuum motor fan turns on and it help
in cleaning a particular area with the help of the vacuum cleaner.
Stop : When the dust clears a particular area then we click stop button .

Figure 4.6 : App Control

15
 CHAPTER 5
RESULT AND DISCUSSION

This section presents the performance evaluation and insights gathered from testing the
Smart Vacuum Cleaner Robot, focusing on its dust absorption efficiency, Bluetooth
control functionality, and obstacle avoidance system.
5.1. Dust Absorption Efficiency
Results:
1. The DC motor-powered fan generated sufficient suction force, effectively absorbing
fine dust and larger debris.
2. The brush system worked efficiently on smooth surfaces, but performance varied on
thicker carpets.
3. The HEPA filter successfully trapped dust particles, preventing secondary pollution.
4. Cleaning efficiency improved with adjustable suction power, depending on surface
type.

Discussion:
1. The suction mechanism performed optimally on hard floors but required modifications
for deeper carpet cleaning.
2. Dust bin capacity needs optimization to reduce frequent emptying during extended
cleaning sessions.
3. Adjusting motor speed and airflow dynamically could enhance dust collection for
varying environments.
5.2. Bluetooth Control Functionality
Results:
1. The Bluetooth module successfully established a stable connection with the mobile
application.
2. Users were able to control movement, start/stop cleaning, and adjust suction power
remotely.
3. Real-time feedback, including battery status and cleaning progress, was accurately
displayed.
4. Command response time averaged 1-2 seconds, ensuring minimal latency.
Discussion:
1. Bluetooth connectivity was reliable within 10 meters but weakened beyond that range.

16
 2. Wi Fi integration may improve remote accessibility compared to Bluetooth-only
control.
3. Enhancements in the mobile app interface and command customization could
improve user experience.
5.3. Obstacle Avoidance System
Results:
1. Infrared and ultrasonic sensors effectively detected obstacles within a 30 cm range.
2. The robot successfully avoided furniture, walls, and moving objects by adjusting motor
speed and direction.
3. Navigation efficiency increased with path optimization algorithms, reducing
redundant movements.
4. Some challenges arose when detecting transparent surfaces (e.g., glass doors),
requiring additional sensor calibration.
Discussion:
1. LiDAR integration could improve obstacle detection in complex environments.
2. Adaptive path planning algorithms reduced cleaning time by 20% compared to
conventional random movement.
3. Sensor calibration is necessary for better accuracy in low-light and reflective surface
conditions.
5.4. Power Consumption and Battery Performance
Results:
1. The lithium-ion battery provided an average runtime of 90 minutes before requiring
recharging.
2. Auto-docking functionality ensured efficient battery management by guiding the
robot back to its charging station.
3. Power consumption varied depending on suction intensity and movement patterns.
Discussion:
1. Energy-efficient motor operation could extend battery life further.
2. Solar-assisted charging integration might improve sustainability in long-duration use
cases.
3. Smart scheduling features could optimize power consumption by adjusting cleaning
cycles dynamically.

17
 CHAPTER 6
CHALLENGES AND SOLUTION

Smart vacuum cleaner robots bring automation and convenience to cleaning tasks, but
they also face several technical challenges. Below are key challenges and their
corresponding solutions for improving performance, efficiency, and reliability.

1. Inconsistent Dust Absorption Efficiency

Challenge:
1. Suction power may not be strong enough for deep cleaning on carpets.
2. Fine dust particles can clog filters, reducing performance over time.
3. Uneven surfaces may limit the vacuum’s ability to pick up debris.

Solution:
1. Use a high-speed DC motor-powered fan for stronger suction.
2. Implement a multi-layer HEPA filtration system to trap fine dust without clogging
easily.
3. Introduce adaptive suction technology, where sensors adjust suction power based on
surface type.

2. Limited Battery Life and Power Management

Challenge:
1. Battery drains quickly, reducing cleaning cycles.
2. High-power suction and motor systems consume excessive energy.
3. Frequent recharging interrupts cleaning tasks.

Solution:
1. Use high-capacity lithium-ion batteries to extend operational time.
2. Implement energy-efficient motors with optimized speed and power usage.
3. Enable smart docking systems that automatically guide the vacuum to its charging
station when power is low.

3. Weak Bluetooth Connectivity and Control Delays

Challenge:
1. Bluetooth signal range is limited, affecting remote control functionality.
2. Delays in transmitting commands result in slow responsiveness.

18
 3. Interference from other wireless devices reduces stability.

Solution:
1. Upgrade to Bluetooth 5.0 or Wi Fi connectivity for extended range and faster response
times.
2. Optimize the mobile app interface for better real-time control.
3. Implement dual communication channels, combining Bluetooth with infrared or RF
signals for more reliable operation.

4. Inefficient Obstacle Detection and Navigation

Challenge:
1. The vacuum may struggle with detecting transparent obstacles (glass surfaces).
2. Navigation algorithms may cause redundant movements, reducing efficiency.
3. Collision issues with low-height furniture or sudden obstacles.

Solution:
1. Integrate LiDAR sensors for high-precision obstacle detection, including transparent
and reflective surfaces.
2. Use AI-powered path optimization algorithms to map rooms efficiently and avoid
redundant movements.
3. Combine ultrasonic and infrared sensors for multi-layer obstacle detection to improve
responsiveness.

5. Noisy Operation Affecting User Comfort

Challenge:
1. High-speed motors and fans produce excessive noise.
2. Vibrations from brush mechanisms can create an unpleasant sound level.
3. Noise levels increase when operating on hard surfaces.

Solution:
1. Use brushless DC motors, which are quieter than brushed motors.
2. Implement sound-dampening materials around the motor housing to reduce vibrations.
3. Develop adaptive noise control algorithms that adjust power levels based on user
preferences.

19
 CHAPTER 7
CONCLUSION, OVERALL IMPACT

7.1 Conclusion
In summary, the project to develop a robotic vacuum cleaner using three ultrasonic sensors and
an Arduino Uno has been successful. The ultrasonic sensors provide precise distance
measurements, enabling the vacuum cleaner to detect and avoid obstacles and walls. The
Arduino Uno functions as the control of the robotic vacuum cleaner, processing the sensor data
and sending signals to the motor to adjust direction as needed. The use of a absorbed dust
particles or suction mechanism to clean the floor is both efficient and effective, and the option
to operate the robotic vacuum cleaner via an automated schedule provides flexibility and
convenience to the user.

7.2 Overall Impact

Smart vacuum cleaner robots make cleaning effortless and efficient. They improve hygiene,
save time, and reduce manual work. Their smart features enhance convenience, making homes
and workplaces cleaner and healthier. As technology advances, they will become even more
effective and reliable.

7.3 Advantage
Smart vacuum cleaner robots make cleaning easier, saving time and effort. They remove dust
effectively, improve air quality, and work automatically. With smart sensors and wireless
control, they offer convenience and efficiency for a cleaner home.

7.4 Application
Smart vacuum cleaner robots are used for effortless home cleaning, removing dust and
allergens automatically. They help maintain hygiene in offices, hotels, and hospitals by
ensuring continuous cleanliness. Their obstacle detection allows smooth navigation, making
them useful in large spaces. With smart controls, they integrate into automated home systems,
improving convenience and efficiency.

20
 CHAPTER 8
FUTURE WORK

8.1 Future Work of Smart Vacuum Cleaner Robots

Future advancements in smart vacuum cleaner robots will focus on improving efficiency,
intelligence, and adaptability. Enhancements in AI-driven navigation, self-learning algorithms,
and smart connectivity will make cleaning more precise and autonomous. Researchers and
developers may integrate multi-surface cleaning adaptability, automated self-maintenance, and
improved suction efficiency to further enhance usability. Energy-efficient solutions, such as
solar-assisted charging or smart battery optimization, will help extend operating times and
make these robots more sustainable.

8.2 Integration with Industry

Smart vacuum cleaner robots have applications beyond households, extending into commercial
and industrial environments. Factories, warehouses, and hospitals can utilize automated
cleaning solutions to ensure hygiene in large spaces. Hotels and offices can integrate these
robots into facility management systems, optimizing cleaning schedules and reducing
maintenance costs. In smart city infrastructure, these robots could play a role in public space
maintenance through AI-assisted autonomous cleaning.

8.3 Advanced Automation and Robotics

These robots can be integrated with IoT and robotic automation, allowing seamless
connectivity with smart home ecosystems. Machine learning and sensor-driven automation will
enable real-time adjustments based on dirt accumulation and room layout changes. LiDAR and
AI-enhanced perception systems will allow better obstacle detection and predictive path
optimization, reducing cleaning time and energy consumption. The future of robotic cleaning
solutions will likely involve collaborative robotic systems that work alongside industrial
automation processes.

8.4 Summary
Smart vacuum cleaner robots are transforming cleaning tasks with automation, efficiency, and
smart connectivity. With advances in AI, IoT integration, and improved navigation systems,
these robots will continue evolving for better performance, adaptability, and industrial
applications. The future holds self-learning vacuum systems, eco-friendly battery solutions,
and enhanced automation, making them indispensable in both personal and commercial spaces,

21
 REFERENCES

[1] Manasa, Vidyashree TS, Bindushree V, Sanjana Rao, Gowra PS “SMART VACUUM
CLEANER” Global Transitions Proceedings (2021), Volume: 2 Issue: 2, Pages 553-558,
November 2021,
[2] Anshu Prakash Murdan, Pawan Kumar Ramkissoon “A SMART AUTONOMOUS FLOOR
CLEANER WITH AN ANDROID BASED CONTROLLER” Institute of Electrical and
Electronics Engineers IEEE Pages 235-239 November 2020 .
[3] Yuda Irawan, Muhardi, Rian Ordila, Roni Diandra “AUTOMATIC FLOOR CLEANING
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OF AN INTELLIGENT DUST CLEANER ROBOT FOR UNEVEN AND
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 APPENDIX

1.Code Sources

#include <NewPing.h>
#include <Servo.h>
#include <SoftwareSerial.h>

#define TRIGGER_PIN A2
#define ECHO_PIN A3
#define MAX_DISTANCE 200

#define SWITCH 9

const int in1 = 8;

const int in2 = 7;
const int in3 = 6;
const int in4 = 5;

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

SoftwareSerial BT(2, 3); // TX, RX for Bluetooth
String readvoice;

Servo servo_motor;
boolean goesForward = false;
int distance = 100;

void setup() {
BT.begin(9600);
Serial.begin(9600);

pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(SWITCH, INPUT);
pinMode(TRIGGER_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);

servo_motor.attach(4); // You can adjust the pin if needed

servo_motor.write(115);
delay(2000);

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 distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}

void loop() {
int VALUE = digitalRead(SWITCH);
Serial.print("PIN VALUE: ");
Serial.println(VALUE);

if (VALUE == 1) { // Object Avoiding Mode

int distanceRight = 0;
int distanceLeft = 0;
delay(50);

if (distance <= 30) {

moveStop();
delay(300);
moveBackward();
delay(400);
moveStop();
delay(300);
distanceRight = lookRight();
delay(300);
distanceLeft = lookLeft();
delay(300);

if (distanceRight >= distanceLeft) {

turnRight();
moveStop();
} else {
turnLeft();
moveStop();
}
} else {
moveForward();
}
distance = readPing();

} else { // Bluetooth Controlled Mode

char c = BT.read();

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 readvoice = c;
delay(10);

if (readvoice.length() > 0) {
Serial.println(readvoice);

if (readvoice == "F") {
moveForward();
}
else if (readvoice == "B") {
moveBackward();
}
else if (readvoice == "R") {
turnRight();
}
else if (readvoice == "L") {
turnLeft();
}
else if (readvoice == "S") {
moveStop();
}

readvoice = "";
}
}
}

int readPing() {
delay(70);
int cm = sonar.ping_cm();
if (cm == 0) {
cm = 250;
}
return cm;
}

int lookRight() {
servo_motor.write(50);
delay(500);
int cm = readPing();
delay(100);
servo_motor.write(115);
return cm;
}

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int lookLeft() {
servo_motor.write(170);
delay(500);
int cm = readPing();
delay(100);
servo_motor.write(115);
return cm;
}

void moveStop() {
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
goesForward = false;
}

void moveForward() {
if (!goesForward) {
goesForward = true;
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
}
}

void moveBackward() {
goesForward = false;
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
}

void turnRight() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(300);
moveForward();

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}

void turnLeft() {
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(300);
moveForward();
}

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