A new service robot designed for cleaning tasks in home environments is introduced. System has three subsystems: electrical, software and mechanical of which micro controller, 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 micro controller 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 micro controller 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.

1. Under the guidance of
Mr. Pankaj Chawla
HOD
Electrical Dept.
Submitted by-
Manan Nange(k11587)
Mohit Nagar(k10789)
Sakshi Jain (k10653)

2. TABLE OF CONTENTS
• Abstract
• Autonomous robot
• Ideas
• At mega 8
• L293D IC
• Infrared Sensor
• DC Motors
• Features
• Application
• Problem
• Future development
• Conclusion

3. 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.

4. 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

5. 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.

6. 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

7. THEREFORE…
 This project is built to be one of the advantages for
human to clean the floor within small period and
more effective.

8. 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,

9. DIAGRAM OF ATMEGA 8

10. 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.

12. 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.

13. 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”

14. 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

15.  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

16. 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

17. 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.

18. 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.

19. 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.

20. 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