CleanItAll: Hypred Cleaning Robot
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Date
2025
Authors
Shehab Al-dein Kharaz
Abd Al-salam Jodallah
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Abstract
This report presents the design, development, and implementation of CleanItAll, an innovative multifunctional cleaning robot that enhances the capabilities of existing robotic vacuum cleaners by integrating both cleaning and object-handling functions. The primary objective was to build a cost-effective, autonomous cleaning solution that can efficiently vacuum, mop, and pick up larger objects such as bottles using a robotic arm. This addresses a key limitation in most current consumer cleaning robots.
The CleanItAll robot features multiple cleaning mechanisms, including side brushes, a central rotating brush, a vacuum system, and dual mopping pads, enabling it to handle various debris types across different surfaces. Navigation is controlled via a Zigzag movement pattern using ultrasonic sensors for obstacle avoidance and an IR sensor for anti-fall protection. The robot also includes an OAK-D camera for real-time object detection and distance measurement, allowing it to detect and remove larger objects through the robotic arm. A custom-built, fully responsive web interface was developed to allow users to monitor and control the robot remotely, providing full access to its various components and functionalities. This interface can be accessed on both desktop and mobile devices, ensuring ease of use and control.
The robot was built using a combination of hardware, including Arduino and Raspberry Pi, and the cleaning and navigation systems were carefully programmed to ensure autonomous operation. Testing demonstrated high accuracy in obstacle detection, with the robot avoiding obstacles and adjusting its path. The object detection system performed well, with the robot accurately recognizing and removing objects like bottles. The cleaning system was particularly effective on both tile and wood surfaces.
The project was successful in achieving its goals, with tests showing high accuracy in navigation, object detection, and cleaning performance, particularly on wood and tile surfaces. While limitations such as time constraints and minor issues with the camera’s distance accuracy were encountered, the robot performed well overall. The project demonstrates the feasibility of combining affordable robotics components with advanced cleaning mechanisms to create an accessible, user-friendly, and effective cleaning solution.