FORM 1

THE PATENTS ACT 1970

(39 OF 1970)
&
The Patents Rules, 2003
APPLICATION FOR GRANT OF PATENT
(See section 7,54 & 135 and rule 20 (1))
1. APPLICANT
Name
National Institute of Technology
(NIT), Rourkela
2. INVENTOR ( S )
Name
Bikram Kesharee Nayak

(FOR OFFICE USE ONLY)

Application No.: 001 /DEL /2016
Filing Date: 18th November, 2016
Amount of Fee Paid: 30000
CBR No.: xxxx
Signature: Bikram Kesharee Nayak

Nationality
Indian

Address
National Institute of Technology (NIT),
Rourkela- 769008, Odisha, India

Nationality
Indian

Address
At- Tikarapada, P.O.-Panchaplli, DistJagatsinghpur, Odisha- 754110

3. TITLE OF THE INVENTION Automatic Floor Cleaning Robot

4. ADDRESS FOR CORRESPONDENCE OF APPLICANT / Telephone No. : 91-9777724299
AUTHORIZED PATENT AGENT IN INDIA
Fax No. 91-xxxxxxx
Mobile No. 9777724299
Bikram Kesharee Nayak, At- Room no- G 226, Hall-9, NIT E-mail : bikram.nitrkl@gmail.com
Rourkela
5. PRIORITY PARTICULARS OF THE APPLICATION (S) FILED IN CONVENTION COUNTRY
Country
India

Application
Number
001 /DEL /2016

Filing Date

Name of the Applicant

Title of the Invention

2016-11-18

Bikram Kesharee Nayak

Automatic Floor Cleaning Robot

6. PARTICULARS FOR FILING PATENT COOPERATION TREATY (PCT) NATIONAL PHASE

International application number

N.A.

7. DECLARATIONS :
(i) Declaration by the Inventor (s)
We, the above named inventor(s) are the true & first inventor(s) for this invention and declare that the applicant(s) herein
is our assignee.
(a) Date : 18 Nov, 2016
(b) Signature (s) Bikram Kesharee Nayak
(c) Name(s) Bikram Kesharee Nayak
(ii) Declaration by the applicant (s) in the convention country
I/We, the applicant(s) in the convention country declare that the applicant(s) herein is our assignee
(a) Date 18 Nov, 2016
(b) Signature (s) N.A.
(c) Name(s) of the signatory Bikram Kesharee Nayak

(iii) Declaration by the applicant (s):

I/We, the applicant(s) hereby declare(s) that:
o
We are in possession of the above mentioned invention.
o
The provisional/complete specification relating to the invention is filed with this application.
o
The invention as disclosed in the specification uses the biological material from India and the necessary
permission from the competent authority shall be submitted by me/us before the grant of patent to me/us.
o
There is no lawful ground of objection to the grant of the Patent to me/us.
o
I am/We are the assignee or legal representative of true & first inventors.
o
The application or each of the applications, particulars of which are given in Para 5 was first application
in convention country/countries in respect of my/our invention.
o
I/We claim the priority from the above mentioned application(s) filed in convention country/countries and
state that no application for protection in respect of the invention had been made in a convention country
before that date by me/us or by any person from which I/We derive the title.
o
My/our application in India is based on international application under Patent Cooperation Treaty (PCT) as
mentioned in Para 6.
o
The application is divided out of my/our application particulars of which are given in Para 7 and pray that
this application may be treated as deemed to have been filed on ___18th Nov, 2016__ under sec. 16 of the
Act.
o
The said invention is an improvement in or modification of the invention particulars of which are given in
Para 8
8. Following are the attachments with the application:
(a) Complete specification.
(b) Complete specification (in conformation with the international application) / as amended
before the International Preliminary Examination Authority (IPEA), as applicable (2 copies ).
No. of pages 263 No. of claims 215
(c) Drawings (in conformation with the international application) / as amended before the
International Preliminary Examination Authority (IPEA), as applicable (2 copies). No. of
sheets 11
(d) Priority documents
(e) Translation of priority document / specification/ International Search Report
(f) Statement and undertaking on Form 3
(g) Power of Authority
(h) Declaration of inventorship on Form 5
(i) Sequence listing in electronic form (floppy disc)
(j)
Fee Rs. 30000in Cash/Cheque/Bank Draft bearing no. xxxxxx..
Date 18th November, 2016. On NIT campus.. Bank.
I/We hereby declare that to the best of my/our knowledge, information and belief the fact and matters stated herein are
correct and I/We request that a patent may be granted to me/us for the said invention.
Dated this

18th day of November 2016.

Signature :- Bikram Kesharee Nayak
Name : Bikram Kesharee Nayak

To,
The Controller of Patent
The Patent Office, at Mumbai

FORM 3
THE PATENT ACT, 1970
( 39 OF 1970 )
&
The Patents Rules, 2003
STATEMENT AND UNDERTAKING UNDER SECTION 8
( See section 8, rule 12 )
We National Institute of Technology (NIT), Rourkela, Odisha hereby declare
(i) that /We who have made this application No. 001 /DEL /2016 Dated 18th November, 2016 alone, made for
the same/substantially same invention, application(s) for patent in the other countries, the particulars of which
are given below :
Name of the

Date of

Application

Status of the

Date of

country:xxxx

Application: xxx

No.:xxx

application : xxx publication :xx

Date of grant:xx

Not Applicable
(iii) that the rights in the application(s) have been assigned to us and that We undertake that up to the date of
grant of the patent, by the Controller. We would keep him informed in writing the details regarding
corresponding applications for patents filed outside India within three months from the date of filing of such
application.
Dated this 18th day of November 2016

For National Institute of Technology, Rourkela

To,
The Controller of Patent
The Patent Office, Mumbai

FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
PROVISIONAL / COMPLETE SPECIFICATION
(See section 10 and rule 13)
1. TITLE OF THE INVENTION
Automatic Floor Cleaning Robot
2. APPLICANT(S)
(a) NAME: BIKRAM KESHAREE NAYAK
(b) NATIONALITY: INDIAN
(c) ADDRESS: AT- ROOM NO- G 226, HALL-9, NIT ROURKELA- 769008, INDIA

3. PREAMBLE TO THE DESCRIPTION

PROVISIONAL (SUMMARY)
An embedded system based product
which can be used in both manual and
automatic modes to clean the floor.

COMPLETE
An automated robot which is capable of cleaning different types
of surface and equipped with different programming modes
including timer and program based mode which can perform
different tasks like sweeping, vacuum cleaning, scrubbing
without much human intervention.

4. ABSTRACT OF THE INVENTION (to be given along with complete specification on the separate page)
An automatic floor cleaning robot includes a micro controller and motors along with necessary control system
arrangements arranged for autonomous movement of the robot over a floor for carrying out cleaning operations without
much human intervention. The robot chassis carries a vacuum cleaning unit which depressurizes air for suction of the
dust and small particulates over the surface. It also has another cleaning unit which comprises of cleaning elements
arraigned to apply a cleaning fluid onto the surface and then to collect the cleaning fluid up from the surface after it has
been used to clean the surface. The robot chassis carries a fluid supply along with a waste container (HEPA filter) for
storing waste materials collected from the cleaning surface. The device has optimized time complexity and rectangular
as well as circular path traversal modes. It has sensors like obstacle avoidance sensors (HC-SR04), dirt sensor, cliff
sensors to sense the environment and to perform accordingly. It also is equipped with wireless control unit so that it can
be used both in automatic and manual mode which will come handy for the user.
5. DESCRIPTION (Description shall start from next page)
Its an embedded system based product which uses the following components.
I.
II.
III.
IV.
V.
VI.
VII.
VIII.
IX.

Raspberry Pi (Microcontroller)
Camera and Image processing unit
Vacuum creator unit (Suction unit)
Ultrasonic sensor (HC SR04)
Dirt Sensor
Cliff Sensor
On system charger
Display unit
Wireless unit (for GPS sensing)

The microcontroller is the heart, which takes its own decision and makes the system automatic. The
microcontroller reads the signals from the IR sensors and the digital signal processor. It then processes this
data and controls the movement of robot by giving signals to the motor driver.
A motor driver is used to control the two geared DC motors. It can make a motor rotate in either clockwise
direction or in anti-clockwise direction according to the control inputs given to it. Without motor driver
circuit, we cant use more than one motor effectively. To control the motors in an efficient way, the motor
drivers are a must. The microcontroller provides the control signals to the motor driver IC according to the
output of DSP in manual mode or IR sensors in automatic mode.

IR SensorsAn astable multi vibrator, an IR LED and an IR sensor TSOP1738 constitutes the IR sensor block. Here we
use four pairs of IR LED and sensor for the automatic operation of the Cleaning Robot. The multi vibrator
can produce square wave oscillations at desired frequency. The output of the multi vibrator drives the IR
LEDs. When an obstacle comes in front of the robot, the IR rays gets reflected from the obstacle and fall on
the IR sensor, which turns the normally high output of sensor to off. The movement of robot can be
controlled according to the output of the IR sensors.

Path generator sensorThe path generator sensor consists of a programmed chip and four optical sensing devices on four sides of
the robot. The sensors sense the environment and the path, then the source code is generated. The generated
code is be stored in the chip and can be used to generate required path accordingly.

Safety beam sensorThe safety beam sensor consists of a microwave sensing device in front of the cleaning brush of the machine.
Microwave sensors generates an electromagnetic field between receivers, creating an invisible volumetric
detection zone. If there is no movement in the monitored zone, the transmitter and receiver frequency remain
the same thus implying the zone is clear. When an intruder say an insect or a child or even a person
accidentally enters the detection zone, the change in the field is registered and function of the robot halts and
accompanied with alarm, which in turn makes the living thing to acknowledge his position and to make him
move.

Obstacle avoidance sensorThe Obstacle avoidance sensor consists of a sensing device which operates using ultrasonic waves. The
mobile robotic vacuum cleaner has to find its path of travelling around and between the stationary objects in
its environment. When the moving vacuum cleaner touches a stationary object, its direction of travelling has
to be changed so that collision with the stationary object may be avoided.

Optical dust sensor-

A vacuum cleaner must include an optical dust sensor for detecting a quantity of dust. This sensor is used at
a suction path for sucking air by a suction force of the vacuum cleaner, whereby an output signal is supplied
to a display device so that a display corresponding to the quantity of the sucked dust, which signal gets
output from the optical dust sensor and is varied in a stateless manner corresponding to the quantity of the
dust.

Cliff sensorIf the cleaning robot get past to an edge like floor or stairs, cliff sensors which are attached to the edges sense
the cliff i.e. the distance between ground and the sensor. By this the system can sense the cliffs and can be
saved from falling down or tipping over which may cause a serious damage to the system.
The robot can either traverse the whole room in circular manner or in spiral manner, starting from edges to
center of the room or starting from center to edges of the room. Practically in every environment, a single
spiral cannot cover the entire area and thus multiple spirals need to be made, requiring a procedure like

backtracking (going back to places where the robot has been before, but where it found a way to go to a still
uncovered area) to ensure complete coverage.
The robot can receive sensory data by using an infrared range finder. The robot is able to rotate the infrared
range finder with a constant velocity relative to its torso. The cleaning radius has been achieved up to 7080%.
Thus the robot can perform its objectives without much human intervention.
6. FIGURES

FIGURE 1.

FIGURE 2.

FIGURE 3.

FIGURE 4.
FIGURE 1Vacuum suction unit
FIGURE 2Robot
FIGURE 3Block diagram of the device
FIGURE 4Path traversal flow lines

7. CLAIMS
I. Ive designed an optimized path traversal algorithm which helps the device clean the floor in a very less
amount of time.
I. The device is made fully automatic, not semiautomatic like many others.
II. The device is very cost effective. It has been made available at a very cheap rate compared to other products.
8. DATE AND SIGNATURE ( to be given on the last page of specification)
18th November, 2016

Bikram Kesharee Nayak