Transcript
Imperial Journal of Interdisciplinary Research (IJIR) Vol-2, Issue-5, 2016 ISSN: 2454-1362, http://www.onlinejournal.in
Robo-Cleaner Mr. Abhishek Gupta1, Mr. Akash Saxena2, Prasun Anand3, Pooja Sharma4, Prince Raj Goyal5, Ranjeet Singh6 1
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Senior Lecturer, SKIT College, Jaipur Associate Professor, SKIT College, Jaipur 3,4,5,6 Student, SKIT College, Jaipur
Abstract : In this today’s world, people go through busy schedule. People in cities have to work for long hours. In such a situation a person has to find some ways for saving time. Household chores are the ones those have cold feet. It is not only time consuming but also tiring. And it is very difficult for women to handle both household and office work. She has to work from day to night. To remove the tiredness of women, ROBO-CLEANER is invented. By invention, we have gift the women her precious time. The requirement of a House Cleaning Robot is born. We need an automatic system that clean the floor automatically for saving time and to remove load of household chores. Also, we did think about how it can be helpful for physical disabled person. Since we had to do this, we knew that we needed a cleaning system that could work in accordance to what we say, thus helping a physically disabled person. So a service robot designed for cleaning tasks in home environments is introduced. Keywords- Micro- controller, infrared sensor, vacuum cleaner 1.
Introduction
Robo-cleaner is designed to clean the floor. For this, Robo-cleaner consists of Micro-controller which detects obstacle and employs its direction. Micro-controller is the main key of the system. It is designed as to get inputs to sense hardship/dirt and save the robot from any collisions. We are using four sensors in this project –one for front , and others are for left , right and back side , so that robot can clean the whole area. A motor driver is present to control the wheels of robot in collision condition. A vacuum cleaner is attached with in system to suck the dirt. Auto mode: In this mode, the microcontroller is designed such a way that it can take decision and can change the path of the robot when it is required. A timer takes place to set the time limit.
Imperial Journal of Interdisciplinary Research (IJIR)
2. Literature review The first robot cleaner to be put into production was Electrolux Trilobite by the Swedish household and professional appliances manufacturer , Electrolux.in 1997 , one of the trilobite vacuum was featured on the BBC’s science program, TOMORROW’S WORLD. In 2001, the British technology company Dyson built and demonstrated a robot vacuum known as the DC06. However, due to its high price, it was never released to the market. The proposal is for a robot design in which it detects the obstacles of the floor. Through a microcontroller the stepper motor positioning and speed is controlled. The project is simple to implement and subject to further improvement and many generations are there i.e. Roomba. In 2014The 600 series now superseded by the 700 series which ran alongside the 600 series for a period of time in 2012. There are several models in the 700 series: • Roomba 760 - Base model • Roomba 770 - As 760 but includes - Dirt Detect Series 2 Technology and Full Bin Detection • Roomba 780 - As 770 but includes - Roomto-room navigation, Capacitive Touch Control panel and Virtual Wall Lighthouses (which replace Auto Virtual Walls) In 2015, The 700 series now superseded by the 800 series which ran alongside the 700 series for a period of time in 2014. There are several models in the 800 series: • Roomba 800 - As 780 but includes Wireless Command Center, 3 Virtual Wall Lighthouses and Storage Case • Roomba 880 - As 790 but includes Batteries all included, 1 Xlife battery, 1 Extra HEPA filter, aerovac tube bin • (Which adds more into Roomba) In 2016, we have derived a roboclearner which have a feature of mopping including cleaning. This feature was not generated in Roomba series.
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Imperial Journal of Interdisciplinary Research (IJIR) Vol-2, Issue-5, 2016 ISSN: 2454-1362, http://www.onlinejournal.in 3.
of sensor to off. It controls the movement of robot according to the output of the IR sensors.
System block diagram
SENSOR UNIT
A.Block diagram explanation1). Dc power unit: -. Typical DC motors are rated from about 6V-12V. The larger ones are often 24V or more. But for the purposes of a robot, you probably will stay in the 6V-12V range. Voltage is directly related to motor torque. More voltage, higher the torque. But don't go running your motor at 100V because that’s just not nice. A DC motor is rated at the voltage it is most efficient at running. If you apply too few volts, it just won’t work. If you apply too much, it will overheat and the coils will melt. So the general rule is, try to apply as close to the rated voltage of the motor as you can. Also, although a 24V motor might be stronger. So a standard recommendation is do not surpass 12V motors unless you really need the torque. Very easy to use and available in standard size. Nut and threads on shaft to easily connect and internal threaded shaft for easily connecting it to wheel.
4. Hardware Implementation The Block Diagram of microcontroller based Robo Cleaner is drawn above. In this we use the IR sensor pairs (sensor unit) to obtain obstructs. Sensor detect dust from the floor and send signal to the amplifier unit to amplify this signal. For amplification, we are using LM 7805(Darlington amplifier) as an amplifier IC. It has 4 operational amplifiers. It amplifies the signal which is obtain from sensor unit and transmitted to the microcontroller. Microcontroller (PIC16f72) is based on programming, it follow the instruction according to program and send signal to the driver unit. Driver IC (relay) received instruction from microcontroller and follows the instruction and move DC gear motor. Power supply unit is for provided the power for all units. A Lead acid battery is connected for provided power supply. For cleaning we are using vacuum cleaner. We are derived vacuum cleaner from microcontroller. For connecting vacuum cleaner to the microcontroller Relays are used. After connecting vacuum cleaner with the microcontroller it is operated from vacuum cleaner. 5. Flow Chart
2). Micro-controller: - It is main key of the Robocleaner.It makes the system automatic. The microcontroller gets the signals from the sensors and processes this data and controls the motion of robot. And robot can be controlled by giving signals to the motor driver. 3) IR sensors: -An astable multivibrator, an IR LED and an IR sensor TSOP1738 constitutes the IR sensor block. Here we use four pairs of IR LED and sensor for the automatic operation of the House Cleaning Robot. The multivibrator is set to produce square wave oscillations at a frequency of 38 kHz. The output of the multivibrator drives the IR LEDs. When an obstacle comes in front of the robot, the IR rays gets reflected from the obstacle and falls on the IR sensor, which turns the normally high output
Imperial Journal of Interdisciplinary Research (IJIR)
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Imperial Journal of Interdisciplinary Research (IJIR) Vol-2, Issue-5, 2016 ISSN: 2454-1362, http://www.onlinejournal.in room that you want cleaned and telling it to go clean. The Robo cleaner works by a complicated algorithm which sends it about your room, and although it may take a while to do the job, it is not time that you have to set aside yourself, but you can let it do its own thing. Robo Cleaner is a versatile platform that allows developments of various applications. The modern structure, we can easily modify the possibility of functions and add some our new functions. The price the machine is a good choice for inventions and new applications in human life.
6. Resultand Conclusion This research facilitates efficient floor cleaning with sweeping and mopping operations. This robot works in two modes automatic and manual for user convenience. This proposed work provides the hurdle detection in case of any obstacle that comes in its way. If there is hurdle in the way of robot, it sends the information to the remote. User can also operate this robot manually with the help of remote. It reduces the labour cost and saves time also and provides efficient cleaning. In automatic mode, the robot operates autonomously. The operations such as sweeping, mopping and changing the path in case of hurdle are performed automatically. Nonetheless, there are still new ideas to improve the developed system and to add new functionality to it. GSM module can be used to send message that, the robot has done the cleaning task. Camera can be used for navigation purposes. Vacuum cleaning can also be done with sweeping and mopping. Further, the robot can be made to move randomly in any direction and its speed can be controlled. Instead of RF module, Xbee pro series module can be used to improve the range of wireless communication. The great advantage of course is that no longer do you have to worry about pushing or pulling a vacuum cleaner around the house, with the stress that often places on a bending back and shoulders. Neither now do you need to be constantly on the lookout for the right plug socket to plug in the vacuum cleaner and pulling the long mains lead out of the way of the vacuum cleaner constantly? Using a Robo Cleaner is as simple as placing it in the
Imperial Journal of Interdisciplinary Research (IJIR)
7.References [1] Building a Mobile Robot for a Floor-Cleaning Operation in Domestic Environment [2] Jordi Palacín, Member, IEEE, José Antonio Salse, Ignasi Valgañón, and Xavi Clua, IEEE transactions on instrumentation and measurement, vol. 53, no. 5, Spain 2004, pp. 1420-1423 [3] Coverage Path Planning for Mobile Cleaning Robots, Marten Wanders, University of Twente, The Netherlands 2011, pp.3-5 [4] A topological coverage algorithm for mobile robots, Sylvia C. Wong Bruce, A. MacDonald, NZ 2012, pp. 2-5 [5] An Efficient Area Maximizing Coverage Algorithm for Intelligent Robots with Deadline Situations, Heung SeokJeon, University School of Natural Science, Korea 2013, pp. 1-6 [6] ATmega328 microcontroller by John S.Pitman,2002, pp. 14-19 [7] Electronic circuits and devices by J B Gupta,2011, pp. 52-55 [8] Cleaning and Household Robots: A Technology Survey by P. Fiorini, 2000, pp.23-65 [9] Autonomous Robots by Springer Publications , 2003, pp. 79-92 [10] Shiwani Saini, C.R. Suri, “Design and Development of Microcontroller Based Auto Flow Assemble for Biosensor Application”
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Imperial Journal of Interdisciplinary Research (IJIR) Vol-2, Issue-5, 2016 ISSN: 2454-1362, http://www.onlinejournal.in International journal of computer application, Volume-6, number-1, September 2010, pp. 21- 27. [11] Muhammad Ali Mazzidi, Janice Gillespie Mazzidi: “The 8051 Microcontroller and embedded System”, Pearson Education, PHI Publication, Chapter-01-09-05, pp- 25-223. [12] A report available on http:// www.ti.com/ds/symlink/lm324k.pdf [13] A report sheet is available on http://www.datasheetcatalog.org/datasheet/texasins truments/l293d.pdf http://www.sinrace.com.cn/en/knowledge[14] base/323-batterypower- supply.html [15] Data available about the voltage regulator and specifications on http://srstansfield.com/electricalengineering/ hyperlinks/LinearDevices/78XX%20Voltage%20R egulators.ht m
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