IoT Based on Duo-mode Controller DIY Robot Cleaner

Advertisements for automatic cleaning robots for household use are now commonplace. However, some individuals still rely on conventional vacuum cleaners, which require significant manual effort. This paper presents a prototype of an affordable cleaning robot, evaluating its performance under varying conditions. This research aims to develop the system using an ESP32 microcontroller, sensors, and a Bluetooth mobile application for robot control. A smartphone can guide the robot’s motion to either mop or vacuum specific areas of the floor. The research results show that using manual mode takes less time than using automatic mode. The robot’s vacuuming efficiency on carpets in automatic mode is approximately $50 \%$ higher than in manual mode, while on hard floors, it is about $40 \%$ higher. For mopping, the efficiency on smooth surfaces is $\mathbf{5 0 \%}$ lower in manual mode than in automatic mode. On rough surfaces, efficiency improves by approximately $\mathbf{4 5. 4 5 \%}$ in automatic mode compared to manual mode. Finally, the affordable DIY mop and vacuum can be developed at minimal cost.