Under the guidance of Mr. Pankaj ChawlaHODElectrical Dept.

Submitted by-Manan Nange(k11587)Mohit Nagar(k10789)

Sakshi Jain (k10653)

TABLE OF CONTENTS• Abstract

• Autonomous robot

• Ideas

• At mega 8

• L293D IC

• Infrared Sensor

• DC Motors

• Features

• Application

• Problem

• Future development

• Conclusion

ABSTRACT

A new service robot designed for cleaning tasks in home environments is introduced. System has three subsystems: electrical, software and mechanical of which microcontroller, sensors (opponent and light) and motor are the electrical and mechanical subsystems respectively and the software subsystem is the brain of the robot. The cleaning robot uses a microcontroller to detect obstacles and manipulates its direction as per the inputs. It is programmed to accept inputs to sense obstacles around it and control the robot to avoid any collisions. In case of an obstacle, or a potential collision, the microcontroller controls the wheels of the robot by a motor driver to avoid collision. The vacuum cleaner at the bottom of the robot performs the cleaning process.

AUTONOMOUS ROBOT The control of autonomous robots involves a number of subtasks

Understanding and modeling of the mechanism

Kinematics, Dynamics, and Odometry

Reliable control of the actuators

Closed-loop control

Generation of task-specific motions

Path planning

Integration of sensors

Selection and interfacing of various types of sensors

Coping with noise and uncertainty

Filtering of sensor noise and actuator uncertainty

Creation of flexible control policies

Control has to deal with new situations

WHAT IS CLEANING ROBOT? A robotic vacuum cleaner is an autonomous robotic

vacuum cleaner that has intelligent programming and a limited vacuum cleaning system. Some designs use spinning brushes to reach tight corners. Others combine a number of cleaning features (mopping, obstacle detector) simultaneous to vacuuming, thus rendering the machine into more than just a robot "vacuum" cleaner.

IDEA Most of the people are working and they did not have

enough time to clean.

From time to time technology come up and need to upgrade for easier human task.

Most of us usually using a hand controlled vacuum for cleaning .Moreover, most of vacuum robots in the market are expensive and may be large in size

THEREFORE… This project is built to be one of the advantages for

human to clean the floor within small period and more effective.

ATMEGA 8 MICROCONTROLLER

8K bytes of In-System Programmable Flash with Read-

While-Write capabilities,

512 bytes of EEPROM,

23general purpose I/O lines, 32 general purpose working

registers

three flexible Timer/Counters with compare modes

internal and external interrupts

a serial programmable USART, a byte oriented Two-wire

Serial Interface

a programmable Watchdog Timer with Internal Oscillator,

DIAGRAM OF ATMEGA 8

L293D Motor driver IC used to drive dc motor rotating in

either direction.

16 pin IC which can control a set of two dc motors simultaneously

It use 5 V for own power and external power source is needed to drive the motors which can be up to 36 V and draw up to 600mA.

DC MOTOR A DC motor is electromechanical device that converts

electrical energy into mechanical energy

DC motors comes in various ratings like 6V and12V.

The most common DC motor types are the brushed and brushless types, which use internal and external commutation respectively to create an oscillating AC current from the DC source—so they are not purely DC machines in a strict sense.

WHAT IS A SENSOR?

“ Device that detects(senses) changes in the ambient conditions or in the state of another device or a system, and conveys or records this information in a certain manner”

IR SENSOR Act as sensing component to the environment. For

Vacuum Cleaner Robot, sensors are used to detect obstacles.

IR which is sharp type of family GP2Y0A21YK0F and its distance measuring range is10 to 80 cm

Obstacle avoidance is a primary requirement for any autonomous mobile robot.

The robot acquires information about its surroundings through sensors mounted on the robot.

PRIMARY REQUIREMENT OF ROBOT

PROBLEM

The problem of find a suitable boot that will carry the vacuum.

A problem that happened because of the vacuum weight, that caused a problems in turning the wheels

Problem with motor and high current needed to operate them, and safety method needed to protect the basic circuit from the backward current.

Problem of dealing with sensor and floating value, some time sensor read wrong value so we put technique to ensure the sensor gives us right values

FEATURES Small size so it will enter a small area.

Low cost, cost of body, three sensors, microcontroller and one motors driver.

A void any obstacle at the center of a given area, which may be discrete or continuous.

APPLICATION

Robotic Vacuum Cleaner is developed to make cleaning process easier especially for working people.

This Robotic Vacuum Cleaner is designed for specific area such as under beds.

FUTURE DEVELOPMENT Now we are working to make the robot smart enough

to detect all objects in any position of room.

In the future we hope to make the robot smarter such that when the robot cleans any room it will save the information about obstacle and its location and if the user want to clean a room it just will restore information and will clean faster.

We hope to make the robot to clean tables such that it can detect edges and it will clean the tables without falling down.

CONCLUSIONS Robots are an important component in Intelligent

Environments Automate devices Provide physical services

Robot Systems in these environments need particular capabilities Autonomous control systems Simple and natural human-robot interface Adaptive and learning capabilities Robots have to maintain safety during operation

While a number of techniques to address these requirements exist, no functional, satisfactory solutions have yet been developed Only very simple robots for single tasks in intelligent environments exist