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AUTOMATIC VACUUM CLEANER

ABSTRACT
Robotics - the word has a deep meaning. Robotics in turn takes the scale
of development by employing various branches, tools, and mechanisms and
performs a wide variety of functions for the benefit of mankind. From this
whole ocean of robotics, we have intended to build a basic Remote controlled
vacuum cleaner robot -SHUBHROT .

Being the students of 6th sem Electronics & Communication branch, the
concept that emerged in our mind was to develop a product that would be useful
to most of the people, so we decided to design and build a robot capable of
vacuuming the floor of a room or area without any human interaction other than
just starting and sometime operating the unit thus saving valuable human time.

In the robot a robotic arm, a vacuum cleaner and obstacle detector sensors
has been integrated and controlled by a remote, which is useful in cleaning our
home, Industries and with little modifications can be used in agricultural field.

The project is comprised of basically three modules, which handles all the basic
functionalities of the robot. The modules which we have integrated in this
project are:

1. The controller part,


2. The Robot and
3. The Vacuum Cleaner.

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CONTENTS Page No.

Acknowledgement iii

Abstract iv

Chapter 1: Introduction 1
1.1: Description of Project
1.2: Goals of Project
1.3: User requirements

Chapter 2: Analysis and implementation 2


2.1: Decomposition of Problem 2
2.2: Technology used 3
2.3: Proposed solution 4
2.4: Hardware components used and their description 7

Chapter 3: Robot 10
3.1: Robot Chassis 10
3.2: Robotic arm 11
3.3: Development board 12

Chapter 4: The remote control 15

Chapter 5: Vacuum cleaner 19


5.1: Working Principle 19
5.2: Vacuum Cleaner Variables
20

Chapter 6: Programming of Microcontroller 21


6.1: Using inbuilt ADC of AVR 21
6.2: Algorithm of program 23

Chapter 7: Future developments and applications 24

Chapter 8: Conclusion and references 25

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LIST OF FIGURES Page No.

Fig 2.1 Decomposition of project problem 2

Fig 2.2 Representation of ASK signal 3

Fig 2.3 Block diagram representation of robot 4

Fig 2.4.Block diagram representation of remote controller 6

Fig 3.1.Block diagram representation of development board 12

Fig 3.2.Circuit diagram of L293D connections 13

Fig: 3.3: Circuit diagram of IR sensor 14

Fig 3.4: IR sensor working 14

Fig 4.1.Block diagram representation of RF communication 15

Fig 4.3.Block diagram representation of RF transmitter section 17

Fig 4.3.Block diagram representation of RF receiver section 17

Fig 4.5: circuit diagram of RF communication 18

Fig. 5.1: parts of vacuum cleaner 20

Fig 6.1.Block diagram representation of reading ADC value 21

LIST OF TABLES Page No.

Table 3.1: Operations performed during robot movement 13

Table 4.1: Pin description of RF transmitter. 16

Table 4.1: Pin description of RF receiver. 16

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CHAPTER:1
INTRODUCTION
1.1 Description of the Project:
Robot - an electromechanical device automates the work in many areas like
industrial power plants, military applications, Domestic works, agricultural
applications etc. Robots are reliable means to bring objects, do settings, clean
area etc at places where human interventions is rather impossible or can cause
hazardous effect on human health i.e., at nuclear power plants, chemical
factories ..

This project focuses on developing a handy remote controlled vacuum cleaner


robot (automatic mode included) based on the principle of robotics. Basically a
robot is built and the vacuum cleaner is attached to it through robotic arm so
that it can clean floor, wall and ceiling.

1.2 Goals of Project


Wireless control mechanism of robot.
Automatic movement of robot with decision making.
Real time robotic arm movements.
Real time Vacuum Cleaner action.

1.3 User requirements


Looking at the present scenario, we have proposed the idea of building robot
that include
Should be an autonomous robot with a an option of manual control

A Robotic Arm that must be able to rotate in 2 axes i.e.


a) In axis: clockwise and anti-clockwise rotation.
b) In - axis : along upward and downward direction motion.

Robot should be made from the basic cost effective materials like
wireless Transceiver Modules, Microcontroller, dc motors, wheels etc..

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CHAPTER:2

ANALYSIS AND IMPLEMENTATION


2.1 Decomposition of Problem:

Fig 2.1.Block diagram representation of decomposition of project problem

Whether you have wood floors, tile floors, or carpet, the truth is that your
floor surfaces will get dirty and cleaning them simply isnt a lot of fun. Its a job
that is seemingly never finished and even if you clean them once a week, you
will still find debris, dust, dander, and hair on their surfaces. This frustration
with cleaning floor surfaces is one of the reasons why an automatic vacuum
cleaner was finally developed.

Our project basically consist of three major parts: a robot chassis with robotic
arm, remote controller and vacuum cleaner. The microcontroller is programmed
to control the various operation of the robot. In remote controlled mode it works
with two major units, one is transmitter and other one is receiver. These two
units communicate with each other via radio waves. Here we will design the
system to work at a frequency of 433 MHz. In automatic mode it has sensors
which can detect objects up to a certain range and when it is within that range,
it turns in a different direction to avoid collision. Two vacuum cleaners are used

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one in the bottom of the chassis and another attached to the robotic arm for
proper cleaning of the given area.

2.2 Technology used


In this project, robot movements are controlled by pressing press to on
switches. In the course, when any button is pressed, binary value corresponding
to the button pressed will be encoded to serial data using IC74147 and HT12E
encoders and is sent using RF transmitter operating at 433.92 Mhz .Transmitter
uses ASK modulation to transmit data. This serial data is received at the
receiver part. This received serial data is processed by microcontroller
AtMega16 with the help of decoder HT12D. The decoder decodes the serial
data into its equivalent binary number and this binary number is sent to the
microcontroller. The microcontroller is programmed to take a decision for any
given input and outputs its decision to the motor driver in order to drive the
motors to control the movement of robot and the robotic arm mounted on the
robot.

Amplitude shift keying (ASK ):


Amplitude shift keying - ASK - in the context of digital communications
is a modulation process, which imparts to a sinusoid two or more discrete
amplitude levels. These are related to the number of levels adopted by the
digital message.
For a binary message sequence there are two levels, one of which is typically
zero.
Thus the modulated waveform consists of bursts of a sinusoid.
Figure illustrates a binary ASK signal (lower), together with the binary
sequence which initiated it (upper). Neither signal has been band limited.

Fig 2.2. Representation of ASK Ssignal

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There are sharp discontinuities shown at the transition points. These result in
the signal having an unnecessarily wide bandwidth. Band limiting is generally
introduced before transmission, in which case these discontinuities would be
rounded off. The band limiting may be applied to the digital message, or the
modulated signal itself. The data rate is often made a sub-multiple of the carrier
frequency. This has been done in the waveform of Figure .
One of the disadvantages of ASK, compared with FSK and PSK, for example,
is that it has not got a constant envelope. This makes its processing (e.g., power
amplification) more difficult, since linearity becomes an important factor.
However, it does make for ease of demodulation with an envelope detector.

2.3: Proposed solution:


The system consists of three basic blocks, each performing important functions.
They are
1. Robot ,
2. Remote Controller and
3. Vacuum cleaner.

Robot:
It consists chassis with mechanical components similar to normal car on
which a
Robotic arm is placed on top of the chassis and two vacuum cleaners are placed
one in the bottom of the chassis and another one attached to the arm.

Fig 2.3 .Block diagram representation of robot

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It has the following sub-components with specific functions:

Antenna: It receives the control signals (ASK modulated) transmitted


from the controller and gives it to the RF receiver. Helical antenna is
used at the receiver as it provides enhanced range of communication.

RF Receiver Module : It receives the ASK modulated control signals


and demodulates it to produce serial data signals.
HT12D Decoder IC: The serial data signals from the RF receiver are
decoded in this decoder to produce digital control signals in binary value
which is used by the microcontroller to control the motion of the robot.

IR sensors: These IR pairs gives +5v whenever the obstacle and edges are
detected. This output is given to microcontroller for decision making.
Microcontroller: It uses control signals from the decoder to generate
signals to drive the motors.

Driver IC: As the signal strength from the microcontroller is not enough
to drive the motor, microcontroller drives the motor with the help of the
driver IC from optimum current levels.

Motors: They are driven by the driver IC, is connected to the wheels for
motion.

Robotic arm: It has 2 degree of freedom to provide motion in and


axes.
It is fitted with 2 dc geared motors and gears and pinions are fitted to
obtain required direction of motion and control speed of movement.

Power supply: A 12V DC rechargeable battery is used for all the


components of the robot as power source.

Remote Controller:
In the remote depending on the key pressed, the encoders generates control
signals which are ASK modulated by the RF transmitter at a frequency of
433.92 MHz and transmitted using an antenna.

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Fig 2.4.Block diagram representation of remote controller.

It has the following sub-components with specific functions:


Keypad: 9 keys are provided to obtain control signals for the movement
of robot and robotic arm. 8 push to on switches are given for movement
and another 1 on-off switch is given for controlling manual and automatic
mode.
74ls147 encoder IC: It receives the pressed key signals from keypad and
gives 4-bit binary active low signals as output. It is a priority encoder.
HT12E Encoder IC: It receives the 4-bit active low signal from priority
encoder and converts it into serial data signal and sends to RF transmitter.
RF transmitter Module : It transmits the received serial data from the
encoder by ASK modulating the control signal.
Power supply: A 9V DC battery is used for all the components of the
remote as power source.

Vacuum cleaner :
Two vacuum cleaners are used one in the bottom of the chassis and another
attached to the robotic arm for proper cleaning of the given area. In the making
of vacuum cleaner for our robot, we have used a Dc motor and fan wing in its
shaft to provide sucking power . It is designed in such a way that it creates low
pressure inside the cleaner and high pressure outside so that air moves inside the
vacuum cleaner taking dust with it. we have provided a sack to collect the dust
inside the cleaner. that requires a 3v supply. This was provided by using 2, 1.5 v
battery cells.

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2.4 Hardware components used and their description:
1. ATmega16:
The ATmega16 is a low-power CMOS 8-bit 40-pin DIP microcontroller
based on the AVR enhanced RISC architecture. By executing powerful
instructions in a single clock cycle, the ATmega16 achieves throughputs
approaching 1 MIPS per MHz allowing the system designer to optimize power
consumption versus processing speed.
Features:
Operating voltages: 4.5 to 5.5 V.
High endurance and non-volatile memory segments.
16kB of In-System self-programmable flash program memory.
512 bytes EEPROM.
1kB internal SRAM.
8-channel, 10-bit ADC.
12 Mhz clock .
Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes.
One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and
Capture
Mode.
Real Time Counter with Separate Oscillator.
Write/Erase cycles: 10,000 flash/100,000 EEPROM.
Data retention: 20 years at 85C/100 years at 25C.
Power Consumption @ 1 MHz, 3V, and 25 C for ATmega16L
Active: 1.1 mA Idle Mode: 0.35 mA Power-down Mode: < 1 A

2.L293D:
The L293D is designed to provide bidirectional drive currents of up to 600-
mA at voltages from 4.5 V to 36 V.
Features:
Wide Supply-Voltage Range: 4.5 V to 36 V.
Output current 600 mA.
Peak output current 1.2 A per channel.

3. RF Module (Transmitter & Receiver):


This RF module comprises of an RF Transmitter and an RF Receiver. The
transmitter/receiver (Tx/Rx) pair operates at a frequency of 434 MHz. An RF
transmitter receives serial data and transmits it wirelessly through RF through
its antenna connected at pin4. The transmission occurs at the rate of 1Kbps -
10Kbps.The transmitted data is received by an RF receiver operating at the
same frequency as that of the transmitter.
Transmitter module

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Working voltage: 3-12V
Dimension: 22mm*33m
Working current: 10-15 mA
Working Mode: AM
Transport speed: 4 kbps
Transmit frequency: 433Mhz
Transmit Power: 10 mW
External Antenna: 25 cm normal cores or single core wire

Receiver module:

Receive sensitivity: -95dbm


Working voltage: 5 V
Dimension: 37 mm* 16 mm
Receive frequency: 433 Mhz
External Antenna: 18-25 cm
Transport Speed: 4 kbps
Working Temperature: -10 C to 70 C
Working Current: 0.5 to 0.8 mA

4.HT12E Encoder IC and HT12D Decoder IC:


HT12E is an encoder integrated circuit of 212 series of encoders. They are
paired with 212 series of decoders for use in remote control system applications.
It is mainly used in interfacing RF circuits. The chosen pair of encoder/decoder
should have same number of addresses and data format. Simply put, HT12E
converts the parallel inputs into serial output. It encodes the 12 bit parallel data
into serial for transmission through an RF transmitter. These 12 bits are divided
into 8 address bits and 4 data bits. It operates from 2.4 to 12v taking input from
2.5v as threshold.

HT12D is a decoder integrated circuit that belongs to 212 series of decoders.


This series of decoders are mainly used for remote control system
applications, They are paired with 212series of encoders. The chosen pair of
encoder/decoder should have same number of addresses and data format. In
simple terms, HT12D converts the serial input into parallel outputs. It decodes
the serial addresses and data received by, say, an RF receiver, into parallel data
and sends them to output data pins. The serial input data is compared with the
local addresses three times continuously. The input data code is decoded when
no error or unmatched codes are found. A valid transmission in indicated by a
high signal at VT pin.

5.DC Geared motors:

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We have used two 150 rpm motors for providing the motion of the robot and
other two motors one 10rpm and other 100rpm for providing movement of
robotic arm.
Features:
Power: 0.5- 3W
Voltage: 3 - 36V DC
Output speed: 1-150 rpm
Reduction ratio:1: 6, 1: 10, 1: 20, 1: 30, 1: 60, 1: 90, 1: 180, 1: 270, 1: 540, 1: 1620,
1: 2430
Motor dimensions: 33 (dia. ) x 61mm (Max. )
Output shaft standard length: 15.5mm and 6mm diameter.

Fig 2.5. DC Geared motor

6.Wheels:
We have used two rubber wheels and two caster wheels for providing motion
of the robot . We selected wheels which would fit our project requirement so as
to move easily without frictional loss on the floor. Caster wheels were provided
for giving balance to the bot.
The wheel we used had 8cm diameter. 6mm shaft hole to fit motor , weighed
100gms and could withstand weight up to 13 kg applied to it.

Fig 2.6: Rubber wheel Fig 2.7: Caster wheel

CHAPTER:3
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Robot
3.1 Robot Chassis:

Our project was inspired by an existing robotic vacuum cleaner, the


Roomba. Current robotic vacuum cleaners on the market, produced by iRobot
and Electrolux, can cost up to Rs.30k. The idea of a designing and building a
device that can perform the same functions as the existing market brands on a
budget of Rs.4k was a challenge that we wanted to take on.
We had an idea of the supplies and equipment available to us and realized that
our robot chassis could be built using a black acrylic plastic material available in
plastic switch base making shops.

Thickness of acrylic plastic material used was 3mm.


It can withstand the tensile strength of 7000psi of weight exerted in
relaxed state.
It can withstand temperature variation from -60 to +90.
The radius of the chassis was 14cm with holes of 6mm at required
places.
The body of the robotic vacuum is composed of a circular pieces of plastic
board, with top and bottom layers, onto which all the components are attached.
Along the diameter of the circle are the two DC geared motors and wheels. The
motors are mounted to the upper side of the bottom unit with aluminum brackets
and the wheels are fitted onto the shaft of the motors. At the rear and far end of the
robotic vacuum lies the third and fourth supporting caster wheels, which spins
freely in all directions. The supporting caster wheels are fitted tightly so the rear
wheels does not wobble as it turns. A hole is given in bottom centre to attach
vacuum cleaner. And places are provided for placing 12v rechargeable battery and
edge detector. In the bottom scrubbers are attached to take dust with it.
The top layer of chassis consist of spaces for attaching development board , IR
sensors ,robotic arm and RF receiver circuit. The top and bottom layers are joined
by 7cm long iron clamps. Two layers are covered with black card board sheets for
complete coverage.

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3.2 Robotic arm:

A mechanical arm is robotic, usually programmable, with similar functions


to a human arm. The links of such a manipulator are connected by joints
allowing either rotational motion (such as in an articulated) or translational
(linear) displacement. The links of the manipulator can be considered to form
a kinematic chain. The business end of the kinematic chain of the manipulator is
called the end effectors and it is analogous to the human hand. The end effector
can be designed to perform any desired task such as welding, gripping, spinning
etc., depending on the application. For example robot arms
in automotive assembly lines perform a variety of tasks such as welding and
parts rotation and placement during assembly.

We made a robotic arm with two degree of freedom and attached it on the
top of the chassis. We designed arm so as to provide motion in two axes , i.e.,
horizontal motion as well as vertical motion. And in the front of the arm we
attached a vacuum cleaner to clean the required area. Movement of the arm was
controlled with remote with high priority given to horizontal motion.
The robotic arm module consisted of two dc geared motors for providing 2
degree of freedom, gears and pinions for controlling the speed of rotation as
well as direction of motion. Iron clamps for attaching the base of the module to
the robot chassis. Iron plates for attaching the motors, gears and providing
strength to the arm, and plastic extension for giving the required length.
First degree of freedom was provided for horizontal motion with a dc geared
motor of 10rpm and was attached to arm base with bolt provided with motor.
This can rotate in full 360 without any obstacle and can rotate either in
clockwise or anti clockwise direction.
Second degree of freedom was given by using a 100 rpm motor and was
fitted to the arm module using iron plates which are joined to each other using
plastic lumps in horizontal direction giving motion in horizontal direction. This
motion was converted to vertical motion by using a pair of gear and pinion. The
shaft of the motor was connected to a spur gear with 24teeth and in turn this
gear was attached to a pinion with 4 teeth so that horizontal motion was
converted to vertical motion with speed reduced to 16 rpm.

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3.3 Development board:
We used ATmega 16 microcontroller for that we prepared our own
development board for the circuit operation. In this board we provided space for
inserting ATmega 16 which is a 40-pin DIP , L293D for motion control and to
receive inputs from sensors .

Fig 3.1.Block diagram representation of development board.

The on-off of the robot was controlled with the switch provided here. The
switch used here is push button switch. A 5V Vcc was given to microcontroller
using IC7805 and this same Vcc was given to sensor and logic Vcc of L293D
using parallel connections. Power from 12V battery is used to drive motors.

Port A of the atmega 16 microcontroller consist of 8 ADCs these are


used to receive sensor output as well as output of the HT12D decoder.
Port D of the microcontroller is used to drive motors of robot and robotic
arm using L293D.
Port C is used for interfacing LCD from which ADC value from the
sensors were seen.

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L293D driver connections:

Fig 3.2.Circuit diagram of L293D connections

Table 3.1: Operations performed during robot movement

Left Motor Right Motor Robot Movement


Forward Forward Forward

Forward Reverse Right

Backward Forward Left

Backward Backward Backward

Our circular robot is programmed in such a way that when it is in movement the
front portion where sensors are placed moves in the required direction. When
we want to move robot to the front we give forward motion signal to the motor,
i.e., 1 0 or when we want our bot to move in the reverse direction we give
opposite signal 0 1. When we want our bot to move in left direction , we
achieve this by giving reverse polarity to left motor and forward polarity to right
motor finally for right direction vice versa so that the circular bot appears to
move in circle avoiding any obstacle that it may encounter.

INFRARED EMITTER DETECTOR:

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Infrared emitter detector pair sensors are fairly easy to implement, although
involved some level of testing and calibration to get right. They can be used for
obstacle detection, motion detection, transmitters, encoders, and color detection.

Infrared Emitter Detector Amplified Signal Circuit

R1 = 150 K
R2 = 220 K pot for distance adjustment.
R3 = 4.7 K
R4 = 10 K
OP1 = Operational Amplifier
LM358 package includes two op amps.
Vcc = +5 Volts

Fig: 3.3: Circuit diagram of IR senser


R3 and R4 determine the amplification of the op amp, gain = 1 + R4/R3. An
appropriate ratio can be determined by connecting up the circuit and measuring the
voltage entering the op amp and knowing the threshold value needed at Vout.
Vout = (1 + R4/R3)Vin so just by solving for the ratio using the values for Vout
and Vin.

We have used three obstacle detector in three direction of front part of robot and a
edge detector in the bottom front of the robot for operation of robot.
An IR proximity sensor works by applying a voltage to a pair of IR light emitting
diodes which in turn, emit infrared light. The light goes through the air and once it
hits an object it is reflected back towards the sensor. Depending on from which
sensor output is received microcontroller is programmed to take decision and
control the motion of the robot.

Fig 3.4: IR sensor working

CHAPTER:4

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The Remote Control
This circuit utilizes the RF module (Tx/Rx) for making a wireless remote,
which could be used to drive an output from a distant place. RF module, as the
name suggests, uses radio frequency to send signals. These signals are
transmitted at a particular frequency and a baud rate. A receiver can receive
these signals only if it is configured for that frequency.
A four channel encoder/decoder pair has also been used in this system. The
input signals, at the transmitter side, are taken through four switches while the
outputs are monitored on a set of four LEDs corresponding to each input switch.
The circuit can be used for designing Remote Appliance Control system. The
outputs from the receiver can drive corresponding relays connected to any
household appliance.
This radio frequency (RF) transmission system employs Amplitude Shift
Keying (ASK) with transmitter/receiver (Tx/Rx) pair operating at 434 MHz.
The transmitter module takes serial input and transmits these signals through
RF. The transmitted signals are received by the receiver module placed away
from the source of transmission.

Fig 4.1.Block diagram representation of RF communication

Encoder IC (HT12E) receives parallel data in the form of address bits and
control bits. The control signals from remote switches along with 8 address bits
constitute a set of 12 parallel signals. The encoder HT12E encodes these
parallel signals into serial bits. Transmission is enabled by providing ground to
pin14 which is active low. The control signals are given at pins 10-13 of
HT12E. The serial data is fed to the RF transmitter through pin17 of HT12E.

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Fig 4.2:RF transmitter and receiver

Table 4.1:Pin description of RF transmitter.

Pin
Function Name
No
1 Ground (0V) Ground
2 Serial data input pin Data
3 Supply voltage; 5V Vcc
4 Antenna output pin ANT

Table 4.1:Pin description of RF receiver.

Pin
Function Name
No
1 Ground (0V) Ground
2 Serial data output pin Data
3 Linear output pin; not connected NC
4 Supply voltage; 5V Vcc
5 Supply voltage; 5V Vcc
6 Ground (0V) Ground
7 Ground (0V) Ground
8 Antenna input pin ANT
The system allows one way communication between two nodes, namely,
transmission and reception. Here HT12E & HT12D have been used as encoder
and decoder respectively. The encoder converts the parallel inputs (from the
remote switches) into serial set of signals. These signals are serially transferred
through RF to the reception point. The decoder is used after the RF receiver to
decode the serial format and retrieve the original signals as outputs.

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Fig 4.3.Block diagram representation of RF transmitter section

Transmitter, upon receiving serial data from encoder IC (HT12E), transmits it


wirelessly to the RF receiver. The receiver, upon receiving these signals, sends
them to the decoder IC (HT12D) through pin2. The serial data is received at the
data pin (DIN, pin14) of HT12D. The decoder then retrieves the original
parallel format from the received serial data.

Fig 4.4.Block diagram representation of RF receiver section

When no signal is received at data pin of HT12D, it remains in standby mode


and consumes very less current (less than 1A) for a voltage of 5V. When
signal is received by receiver, it is given to DIN pin (pin14) of HT12D. On
reception of signal, oscillator of HT12D gets activated. IC HT12D then
decodes the serial data and checks the address bits three times. If these bits
match with the local address pins (pins 1-8) of HT12D, then it puts the data bits
on its data pins (pins 10-13) and makes the VT pin high. An LED is connected
to VT pin (pin17) of the decoder. This LED works as an indicator to indicate a
valid transmission. The corresponding output is thus generated at the data pins
of decoder IC.

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A signal is sent by lowering any or all the pins 10-13 of HT12E and
corresponding signal is received at receivers end (at HT12D). Address bits are
configured by using the by using the first 8 pins of both encoder and decoder
ICs. To send a particular signal, address bits must be same at encoder and
decoder ICs. By configuring the address bits properly, a single RF transmitter
can also be used to control different RF receivers of same frequency.
To summarize, on each transmission, 12 bits of data is transmitted consisting of
8 address bits and 4 data bits. The signal is received at receivers end which is
then fed into decoder IC. If address bits get matched, decoder converts it into
parallel data and the corresponding data bits get lowered which could be then
used to drive the LEDs. The outputs from this system can either be used in
negative logic or NOT gates (like 74LS04) can be incorporated at data pins.

Fig 4.5:circuit diagram of RF communication

CHAPTER:5
The Vacuum Cleaner

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5.1:Working Principle:
When we sip soda through a straw, we are utilizing the simplest of all suction
mechanisms. Sucking the soda up causes a pressure drop between the bottom of the straw
and the top of the straw. With greater fluid pressure at the bottom than the top, the soda is
pushed up to your mouth. This is the same basic mechanism at work in a vacuum cleaner,
though the execution is a bit more complicated. Here well look inside a vacuum cleaner
to find out how it puts suction to work when cleaning up the dust and debris in your
house. As we'll see, the standard vacuum cleaner design is exceedingly simple, but it
relies on a host of physical principles to clean effectively.

It may look like a complicated machine, but the conventional vacuum cleaner is
actually made up of only six essential components:
An intake port, which may include a variety of cleaning accessories
An exhaust port
An electric motor
A fan
A porous bag
A housing that contains all the other components

When we plug the vacuum cleaner in and turn it on, this is what happens:
The electric current operates the motor. The motor is attached to the fan, which
has angled blades (like an airplane propeller).
As the fan blades turn, they force air forward, toward the exhaust port(check
out How Airplanes Work to find out what causes this).
When air particles are driven forward, the density of particles (and therefore
the air pressure) increases in front of the fan and decreases behind the fan.

This pressure drop behind the fan is just like the pressure drop in the straw when
we sip from our drink. The pressure level in the area behind the fan drops below the
pressure level outside the vacuum cleaner (the ambient air pressure). This creates suction,
a partial vacuum, inside the vacuum cleaner. The ambient air pushes itself into the
vacuum cleaner through the intake port because the air pressure inside the vacuum
cleaner is lower than the pressure outside.

As long as the fan is running and the passageway through the vacuum cleaner
remains open, there is a constant stream of air moving through the intake port and out the
exhaust port. But how does a flowing stream of air collect the dirt and debris from your
carpet? The key principle is friction.

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Fig. 5.1: parts of vacuum cleaner
5.2:Vacuum Cleaner Variables:
In the last section, we saw that vacuum cleaners pick up dirt by driving a stream of air
through an air filter (the bag). The power of the vacuum cleaner's suction depends on a
number of factors. Suction will be stronger or weaker depending on:

The power of the fan: To generate strong suction, the motor has to turn at a good
speed.
The blockage of the air passageway: When a great deal of debris builds up in the
vacuum bag, the air faces greater resistance on its way out. Each particle of air
moves more slowly because of the increased drag. This is why a vacuum cleaner
works better when you've just replaced the bag than when you've been vacuuming
for a while.
The size of the opening at the end of the intake port: Since the speed of the
vacuum fan is constant, the amount of air passing through the vacuum cleaner per
unit of time is also constant. No matter what size you make the intake port, the
same number of air particles will have to pass into the vacuum cleaner every
second. If you make the port smaller, the individual air particles will have to move
much more quickly in order for them all to get through in that amount of time. At
the point where the air speed increases, pressure decreases, because of Bernoulli's
principle The drop in pressure translates to a greater suction force at the intake
port. Because they create a stronger suction force, narrower vacuum attachments
can pick up heavier dirt particles than wider attachments.

In our project we have made 2 vacuum cleaners using the above mentioned principles
.The body of the vacuum cleaner was made using plastic bottle, the fan was made by
finely cutting metal cap of a bottle and a sack like structure to collect the dust.

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CHAPTER:6
PROGRAMMING OF
MICROCONTROLLER
6.1 Using inbuilt ADC of AVR:
Like most of modern MCU ATMEGA16 has an ADC on chip. An ADC converts
an input voltage into a number. An ADC has a resolution. A 10 Bit ADC has a
range of 0-1023. (2^10=1024) The ADC also has a Reference voltage(ARef).
When input voltage is GND the output is 0 and when input voltage is equal to
ARef the output is 1023. So the input range is 0-ARef and digital output is 0-1023.

Fig 6.1.Block diagram representation of reading ADC value

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The ADC is multiplexed with PORTA that means the ADC channels are shared
with PORTA. The ADC can be operated in single conversion and free running
more. In single conversion mode the ADC does the conversion and then stop.
While in free it is continuously converting. It does a conversion and then start next
conversion immediately after that.
ADC Prescaler.
The ADC needs a clock pulse to do its conversion. This clock generated by system
clock by dividing it to get smaller frequency. The ADC requires a frequency
between 50KHz to 200KHz. At higher frequency the conversion is fast while a
lower frequency the conversion is more accurate. As the system frequency can be
set to any value by the user (using internal or externals oscillators). So the
Prescaler is provided to produces acceptable frequency for ADC from any system
clock frequency. System clock can be divided by 2,4,16,32,64,128 by setting the
Prescaler.
ADC Channels
The ADC in ATmega32 has 8 channels that means you can take samples from
eight different terminal. You can connect up to 8 different sensors and get their
values separately.
ADC Registers.
As you know the registers related to any particular peripheral module(like ADC,
Timer, USART etc.) provides the communication link between the CPU and that
peripheral. You configure the ADC according to need using these registers and you
also get the conversion result also using appropriate registers. The ADC has only
four registers.
ADC Multiplexer Selection Register ADMUX : For selecting the
reference voltage and the input channel.
ADC Control and Status Register A ADCSRA : As the name says it has
the status of ADC and is also use for controlling it
The ADC Data Register ADCL and ADCH : The final result of conversion
is here.

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6.2: Algorithm for embedded c code(atmega16) for remote controlled
vacuum cleaner robot

Step 1: Initialise ADC

Step 2: Set PORTD as output port

Step 3: Read control bits of the remote from the RF RX through ADC

Step 4:Decode the 4bit control information as

Manual mode (go to step 7) ,


Robot control (go to step 5 ) ,
Arm position control (go to step 6 ),
default (go to step 3 )

step 5: Decode the 4bit bot control information as left, right, forward ,
backward and set the PORTD correspondingly for controlling the motor.
Go to step 3.

step 6: Decode the 4bit arm position(2 degrees of freedom) control information
as clockwise, anticlockwise, elevate , decline and set the PORTD
correspondingly for controlling the arm position. Go to step 3.

MANUAL MODE

Step 7: If the control info from the RX doesnt Manual mode. Goto step
3.

Step 8: Read outputs of the sensors through ADC

Step 9: No edge check for obstacles and move or rotate toward no obstacle
direction ( PORTD is set correspondingly). Go to step 7.

Step 10: Else(edge)move backward a little . Go to step 7.

CHAPTER:7

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APPLICATIONS AND FUTURE
DEVELOPMENTS
7.1: Applications
It can be used in industrial cleaning where in it reduces human contact to
harmful chemicals and industrial waste
The robotic arm which has a vacuum cleaner integrated on it may be
replaced by a hook connected to a motor to lift things from one place to
another.
It reduces the necessity for having a maid to clean our houses
Used in agricultural operations for instance, in the recovery of grain dust
from silos.
The same concept can be extended to cars as well where robots move
automatically according to dimension of car and clean it.
This technology integrated with high power drier could be used to dry up
cricket field if there is a shower in the middle of play reducing the delay
in drying the field

7.2: Possible further enhancements to the current project

Image/ Video captured of a car/house is fed to the processor there by the


bot can clean the entire car house by the input fed.
The vacuum cleaner on the robotic arm could be replaced by hand like
structure that can lift things from one place to another.
Scheduler :Allows the user to program the Robot to clean at certain
times automatically.
Homebase :The Robot automatically returns to and docks here for
recharging
Virtual Wall : Used for keeping the Robot out of designated areas.
Voice controlled locomotion of robot instead of button control.

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CHAPTER:8
CONCLUSION AND
REFERENCES
8.1: Conclusion

The Robotics- the word has a deep meaning. Robotics in turn takes the
scale of
development by employing various branches, tools, mechanism and performs a
wide variety of functions for the benefit of mankind. From this whole ocean of
robotics, we have finally built a Vacuum cleaner robot- SHUBHROT quite
successfully.
But still this is not the end Its the beginning of the new era of robotics. Still
we
have a long way to traverse in which we further decide to extend our robotic art
to work out for a specific application as well as increase its functionalities by
proper deployment of sensors and developing new architectures and designs
even more accurately. Even this can be extended to control the robot from the
internet as well as by making an appropriate mobile application too, even with
lesser cost.

Thus the scope of further expansion of this project SHUBHROT is


endless.

8.2: References
www.avrfreaks.com
www.wikipedia.org
www.alldatasheets.com
www.engineersgarage.com
www.irobot.com
www.extremeelectronics.com
Build a Remote Controlled Robot by DAVID R.SHIRCLIFF

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OUR FINAL PROJECT:

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