Floor cleaning is a major task in the household cleaning process. But nowadays people are very busy with their works they do not have enough time to spend cleaning process. Multifunctional floor cleaning robot was introduced to the world as a solution for above reason. The proposed method is capable to identify and classify the dirt in the domestic environment. According to dirt detected by the floor, the robot can decide and apply most suitable cleaning action among sweeping, mopping and vacuuming. Dirt detection is based on vision system. The vision system is introduced a novel method of mud detection and proposed vision algorithm is used to separate mud and dirt elements. According to this vision base decision robot select cleaning method. The robot can be identified more than 70% of dirt and mud elements in the domestic environment. Many Sensors around the main body are used to avoid collision with the floor obstacles or the fall from the stairs and sharp edges. The automatic floor cleaning action of dynamic mechanism and dust removal equipment is controlled by both electric circuit and single-chip microprocessor. For the operation of functionality and practicality, an Android-based application is an added to the robot with three models, including manual operation, automatic operation, and cleaning operation. Our findings suggest that average save more than two hours of people’s time per week, floors are cleaner leading to better homes and lives, systematic cleaning is seen as an important feature, and modifications to the domestic environment to support the navigation of the robot are largely accepted.