TABLE OF CONTENTS

S.NO. Particulars

Page No.

CHAPTER 1 INTRODUCTION

1.1 Project Overview

1.2 Project Objective

1.3 Problem Statement

1.4 Scope of project

CHAPTER 2 LITERATURE REVIEW

2.1 First review from internet: Autonomous Vacuum Robot

2.2 Second review from newspaper: Vroom... it's the Cruise-missile vacuum cleaner

2.3 Third review from journal: Architecture for a Synthetic Vacuum Cleaner

CHAPTER 3. PROBLEM DEFENITION

CHAPTER 4. PROJECT ANALYSIS & DESIGN

4.1 Block Diagram

4.2 Block Diagram Explanation

4.3 Circuit Diagram

10

4.4 Circuit Diagram Explanation

12

4.5 Component Overview

14

CHAPTER 5. SOLAR TRACKING SYSTEM

18

Introduction

18

5.1problem Definition

18

5.2motivation

18

5.4 Methedology

20

5.5 Block Diagram

21

5.6 Block Diagram Description

22

5.6.1 Microcontroller

22

5.6.2 Sensor

23

5.6.3 Servo Motor

23

5.6.4 Solar Panel

23

5.6.5 Charge Control

23

5.6.6 Battery

23

5.6.7 Load Control

23

5.6.8 Load

23

5.6.9 Lcd Display

23

5.7 Background

25

5.8 Need Of Sun Tracking

26

5.9 Objective Of The Work

26

5.10 Solar Energy

26

5.11 Tracking Techniques

27

5.12 Relevance Of Solar Trackers

27

5.13 Equivalent Circuit Of Solar Cell

28

5.14 Active Solar Trackers

28

5.15 Types Of Solar Trackers

28

5.16 Single Axis Solar Trackers

29

5.17 Dual Axis Trackers

29

6. CONCLUSION

30

7. FUTURE SCOPE

30

8. REFERENCES

31

ABSTRACT
The house cleaning robot uses a microcontroller to detect obstacles and manipulates its direction
as per the inputs from infrared sensors mounted in front, right and left of the robot or the
digital signal processor.

The heart of the system is a microcontroller PIC 16F877A . It is programmed to accept inputs
to sense obstacles around it and control the robot to avoid any collisions. There are 4 IR
sensors used in this project- one at the front, and the remaining on the left, right and back of the
robot to detect obstacles, if any. In case of an obstacle ,or a potential collision, the
microcontroller controls the wheels of the robo by a motor driver IC- L293D to avoid collision.
The vacuum cleaner mounted on the robot performs the cleaning process.
The robot works in 2 modes : Auto mode and Manual mode.
Auto mode:- In this mode, the PIC microcontroller is programmed in such a way that it takes the
decision and changes the path of the robot as per the sensor inputs to avoid the obstacles. A timer
is used to set the time limit for the cleaning process.
Manual mode:In manual mode, we use a DSP- AP7003 to control the robot manually.
This DSP converts speech commands to digital format and these values are stored in its
memory. This is done pre-hand by the user. When cleaning is to be done, the user just deliver the
speech commands which has been already stored in the DSP. After comparing the two speech
commands , the corresponding output of DSP drives the PIC microcontroller and moves the
robot accordingly.

LIST OF FIGURES
Figure No.

Page No.

Figure 1 BLOCK DIAGRAM

Figure 2 CIRCUIT DIAGRAM

11

Figure 3 Voice Recognition Circuit

12

Figure 4 PIC Microcontroller 16F877A

14

Figure 5 LM7805 Voltage Regulator IC

14

Figure 6 Speech Recognition IC AP7003

15

Figure 7 Pinout Diagram of L293d

16

Figure 8 IR sensor TSOP1738

17

Figure 9 Geared Motor

17

Figure 10 Block Diagram Of Solar Tracking System

22

Figure 11 Circuit Diagram of Solar Tracker

24

Figure 12 PCB Design

25

Figure 13 Single Axis Solar Tracker

29

Figure 14 DUAL AXIS TRACKERS

29