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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:
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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 3: Robot 10
3.1: Robot Chassis 10
3.2: Robotic arm 11
3.3: Development board 12
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LIST OF FIGURES Page No.
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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 ..
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
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.
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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.
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.
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It has the following sub-components with specific functions:
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.
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.
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.
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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:
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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.
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.
CHAPTER:3
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Robot
3.1 Robot Chassis:
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3.2 Robotic arm:
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 .
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.
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L293D driver connections:
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.
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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.
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
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.
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.
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
Pin
Function Name
No
1 Ground (0V) Ground
2 Serial data input pin Data
3 Supply voltage; 5V Vcc
4 Antenna output pin ANT
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
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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.
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.
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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 3: Read control bits of the remote from the RF RX through ADC
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 9: No edge check for obstacles and move or rotate toward no obstacle
direction ( PORTD is set correspondingly). 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
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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.
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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